Method for guiding puncture based on CT (Computed Tomography)

Abstract

The invention provides a method for guiding puncture based on CT, which belongs to the field of CT interventional therapy, and comprises the following steps: judging puncture types and determining the position of a needle entry point based on the position of a target puncture point in a CT image, the puncture types including same-layer two-dimensional puncture and cross-layer three-dimensional puncture; when same-layer two-dimensional puncture is carried out, a same-layer two-dimensional puncture path is determined according to the same-layer deflection angle from the needle entry point to the target puncture point, the same-layer deflection direction and the linear distance between the needle entry point and the target puncture point; when cross-layer three-dimensional puncture is carried out, a target puncture point is mapped to a needle entry CT layer to obtain a mapping point, a same-layer deflection angle and a cross-layer deflection angle are calculated, and a linear distance between a needle entry point and the target puncture point is calculated; and determining a cross-layer three-dimensional puncture path according to the same-layer deflection angle, the cross-layer deflection angle, the deflection direction and the linear distance between the needle entry point and the target puncture point. Puncture is guided only based on the CT image, repeated registration is not needed, the puncture time can be greatly shortened, and the operation efficiency can be greatly improved.

Description

Technical Field

[0001] The invention relates to a puncture method based on CT guidance, belonging to the technical field of CT interventional treatment. Background Art

[0002] With the rapid development of medical equipment, surgical positioning navigation has gradually become popular in major surgical fields. Currently, CT navigation puncture mostly relies on the doctor's experience, or relies on electromagnetic navigation and optical navigation. Since these two forms of navigation require multiple alignments, they will increase surgical system errors and surgery time. In addition, these two forms of navigation also have the disadvantages of high cost, high dependence on navigation equipment, and high operating thresholds. Summary of the invention

[0003] In order to solve the above-mentioned existing problems, the present invention provides a CT-guided puncture method, and the technical solution is as follows:

[0004] As one aspect of the present invention, a method for puncture based on CT guidance is provided, comprising:

[0005] S100, obtaining a CT image of the patient to be punctured, and determining the location of the target puncture point and the CT layer where the target puncture point is located according to the CT image, wherein the CT layer where the target puncture point is located is the target CT layer;

[0006] S200, determining the needle entry point and judging the puncture type according to the puncture environment between the target CT layer and other CT layers, and according to the location of the target puncture point, wherein the CT layer where the needle entry point is located is the needle entry CT layer, and the puncture types include same-layer 2D puncture and cross-layer 3D puncture, where the same-layer 2D puncture means that the target CT layer and the needle entry CT layer are the same layer, and cross-layer 3D puncture means that the target CT layer and the needle entry CT layer are different layers;

[0007] S300, when the puncture type is same-layer two-dimensional puncture, determining the same-layer two-dimensional puncture path according to the relative position relationship between the needle entry point and the target puncture point, the same-layer deflection angle from the needle entry point to the target puncture point, and the straight-line distance between the needle entry point and the target puncture point;

[0008] S400, when the puncture type is cross-layer three-dimensional puncture, the target puncture point is mapped from the target CT layer to the needle entry CT layer to obtain a mapping point, the same-layer deflection angle from the needle entry point to the mapping point is calculated, and the cross-layer deflection angle between the ray passing through the target puncture point with the needle entry point as the endpoint and the ray passing through the mapping point with the needle entry point as the endpoint is calculated, and the straight-line distance between the needle entry point and the target puncture point is calculated, and the cross-layer three-dimensional puncture path is determined according to the same-layer deflection angle from the needle entry point to the mapping point, the cross-layer deflection angle, the straight-line distance between the needle entry point and the target puncture point, the relative position relationship between the needle entry point and the mapping point, and the relative position relationship between the needle entry point and the target puncture point.

[0009] Furthermore, when the puncture type is same-layer two-dimensional puncture, the same-layer two-dimensional puncture path is determined according to the relative position relationship between the needle entry point and the target puncture point, the same-layer deflection angle from the needle entry point to the target puncture point, and the straight-line distance between the needle entry point and the target puncture point, including:

[0010] S310, measuring the vertical distance between the needle entry point and the target puncture point and the linear distance between the needle entry point and the target puncture point according to the CT image;

[0011] S320, calculating the same-layer deflection angle from the needle entry point to the target puncture point according to the vertical distance between the needle entry point and the target puncture point and the linear distance between the needle entry point and the target puncture point;

[0012] S330, determining a same-layer deflection direction from the needle entry point to the target puncture point according to a relative position relationship between the needle entry point and the target puncture point, wherein the same-layer deflection direction from the needle entry point to the target puncture point includes left and right;

[0013] S340, determining a same-layer two-dimensional puncture path according to a same-layer deflection angle from the needle entry point to the target puncture point, a same-layer deflection direction from the needle entry point to the target puncture point, and a straight-line distance between the needle entry point and the target puncture point.

[0014] Furthermore, the calculation formula for the deflection angle from the needle insertion point to the target puncture point in the same-layer two-dimensional puncture is:

[0015] β=arccos(A / α 1 )

[0016] Where A represents the vertical distance between the needle insertion point and the target puncture point, α 1 It indicates the straight-line distance between the needle insertion point and the target puncture point in the same-layer two-dimensional puncture.

[0017] Furthermore, when the puncture type is cross-layer three-dimensional puncture, the target puncture point is mapped from the target CT layer to the needle entry CT layer to obtain a mapping point, the same-layer deflection angle from the needle entry point to the mapping point is calculated, and the angle between the ray passing through the target puncture point with the needle entry point as the endpoint and the ray passing through the mapping point with the needle entry point as the endpoint is calculated to obtain the cross-layer deflection angle, and the straight-line distance between the needle entry point and the target puncture point is calculated, and the cross-layer three-dimensional puncture path is determined according to the same-layer deflection angle from the needle entry point to the mapping point, the cross-layer deflection angle, the straight-line distance between the needle entry point and the target puncture point, the relative position relationship between the needle entry point and the mapping point, and the relative position relationship between the needle entry point and the target puncture point, including:

[0018] S410, acquiring the number of target CT layers and the number of needle insertion CT layers according to the CT image, measuring the vertical distance between the needle insertion point and the mapping point, and the linear distance between the needle insertion point and the mapping point;

[0019] S420, calculating the same-layer deflection angle from the needle entry point to the mapping point according to the vertical distance between the needle entry point and the mapping point and the straight-line distance between the needle entry point and the mapping point;

[0020] S430, determining a same-layer deflection direction from the needle entry point to the mapping point according to a relative position relationship between the needle entry point and the mapping point, wherein the same-layer deflection direction from the needle entry point to the mapping point includes left and right;

[0021] S440, calculating the straight-line distance between the target puncture point and the mapping point according to the difference between the number of target CT layers and the number of needle insertion CT layers, and obtaining the inter-layer thickness;

[0022] S450, calculating the inter-layer deflection angle according to the inter-layer thickness and the straight-line distance between the needle entry point and the mapping point, and calculating the straight-line distance between the needle entry point and the target puncture point;

[0023] S460, determining a cross-layer deflection direction according to a relative position relationship between the needle entry point and the target puncture point, where the cross-layer deflection direction includes front and back;

[0024] S470, determining a cross-layer three-dimensional puncture path according to the same-layer deflection angle between the needle entry point and the mapping point, the cross-layer deflection angle, and the straight-line distance between the needle entry point and the target puncture point.

[0025] Furthermore, the calculation formula for the same-layer deflection angle from the needle insertion point to the mapping point in cross-layer three-dimensional puncture is:

[0026] β1=arccos(B / C)

[0027] Wherein, B represents the vertical distance between the needle entry point and the mapping point, and C represents the linear distance between the needle entry point and the mapping point. Further, the calculation formula of the inter-layer thickness is:

[0028] D=|MN|f

[0029] Wherein, M represents the number of target CT layers, N represents the number of needle insertion CT layers, and f represents the preset thickness of each layer of the CT image.

[0030] Furthermore, the calculation formula for the cross-layer deflection angle in cross-layer three-dimensional puncture is:

[0031] β2=arctan(D / C)

[0032] Where D represents the interlaminar thickness, and C represents the straight-line distance between the needle entry point and the mapping point.

[0033] Furthermore, the calculation formula for the straight-line distance between the needle insertion point and the target puncture point in cross-layer three-dimensional puncture is:

[0034]

[0035] Among them, C represents the straight-line distance between the needle entry point and the mapping point, and D represents the interlayer thickness.

[0036] Furthermore, a CT-guided puncture method also includes:

[0037] S500, simulating the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path on the CT image to perform feasibility verification and safety verification;

[0038] S600: If the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path meets the preset feasibility requirement and safety requirement, perform puncture according to the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path;

[0039] S700. If the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path does not meet one of the preset feasibility requirements and safety requirements, repeat steps S200 to S700 to redetermine the needle entry point and re-plan the puncture path until the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path meets the preset feasibility requirements and safety requirements.

[0040] The beneficial effects of the present invention are:

[0041] 1. Improve puncture accuracy:

[0042] By accurately calculating the same-layer deflection angle, cross-layer deflection angle and straight-line distance, the present invention can achieve high-precision puncture path planning. Compared with the traditional method of blind puncture based on doctor's experience or relying on electromagnetic navigation and optical navigation, the present invention can effectively reduce the puncture deviation caused by human factors or equipment errors and significantly improve the accuracy of puncture.

[0043] 2. Shorten the operation time:

[0044] The present invention only plans the puncture path based on CT images, without the need for multiple registrations. Traditional navigation methods require multiple equipment calibrations and positioning during surgery, which not only increases the complexity of the surgery, but also prolongs the surgery time. The present invention can significantly reduce the puncture time by simplifying the planning process of the puncture path, thereby improving surgical efficiency, reducing the patient's exposure time during surgery, and reducing surgical risks.

[0045] 3. Reduce surgical risks:

[0046] Since the present invention can achieve high-precision puncture path planning, it reduces the damage to surrounding tissues during the puncture process. At the same time, shortening the operation time also reduces the risks that patients may face due to long-term surgery, such as infection risk, anesthesia risk, etc. In addition, the present invention reduces the dependence on complex navigation equipment, reduces the impact of equipment failure on surgery, and further improves the safety of surgery.

[0047] 4. Simplify the operation process:

[0048] The operation process of the present invention is simple and easy to master. The doctor only needs to obtain the CT image of the patient to quickly determine the puncture path through the method provided by the present invention. This method not only reduces the demand for professional navigation equipment, but also lowers the threshold for the technical requirements of the operator, so that more medical institutions can apply this technology and improve the accessibility of medical services.

[0049] 5. Strong adaptability:

[0050] The present invention is applicable to a variety of puncture scenarios, including same-layer two-dimensional puncture and cross-layer three-dimensional puncture. Whether it is a simple same-layer puncture or a complex cross-layer puncture, the present invention can provide accurate path planning. This wide applicability enables the present invention to meet the needs of different surgical scenarios and provides greater flexibility for clinical applications.

[0051] 6. High cost-effectiveness:

[0052] Compared with traditional electromagnetic navigation and optical navigation equipment, the present invention does not need to purchase expensive navigation equipment, thus reducing medical costs. At the same time, since the present invention can improve surgical efficiency, reduce surgical time and the occurrence of complications, it indirectly reduces the patient's treatment costs and the consumption of medical resources, and has significant economic and social benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 It is a two-dimensional puncture model planning diagram provided by an embodiment of the present invention;

[0055] Figure 2 It is a schematic diagram of same-layer two-dimensional puncture path planning based on CT images corresponding to the two-dimensional puncture model provided in an embodiment of the present invention;

[0056] Figure 3It is a schematic diagram of same-layer two-dimensional puncture path planning based on CT images corresponding to an actual case provided in an embodiment of the present invention;

[0057] Figure 4 It is a three-dimensional puncture model planning diagram provided by an embodiment of the present invention;

[0058] Figure 5 It is a schematic diagram of cross-layer three-dimensional puncture path planning based on CT images corresponding to the three-dimensional puncture model provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0060] Embodiment 1:

[0061] The embodiment of the present invention provides a CT-guided puncture method, comprising:

[0062] S100, obtaining a CT image of the patient to be punctured, and determining the location of the target puncture point and the CT layer where the target puncture point is located according to the CT image, wherein the CT layer where the target puncture point is located is the target CT layer;

[0063] Specifically, a CT image of the patient to be punctured is acquired through a CT scanning device, and the CT image of the patient to be punctured is analyzed to determine the position of the target puncture point, and the CT layer where the target puncture point is located is determined according to the position of the target puncture point, and the CT layer where the target puncture point is located is the target CT layer. It should be understood that the acquired CT image of the patient to be punctured includes several layers, including the target CT layer, each layer records the layer number information, and the resolution and quality of the CT image should meet the requirements of puncture path planning.

[0064] S200, determining the needle entry point and judging the puncture type according to the puncture environment between the target CT layer and other CT layers, and according to the location of the target puncture point, wherein the CT layer where the needle entry point is located is the needle entry CT layer, and the puncture types include same-layer 2D puncture and cross-layer 3D puncture, where the same-layer 2D puncture means that the target CT layer and the needle entry CT layer are the same layer, and cross-layer 3D puncture means that the target CT layer and the needle entry CT layer are different layers;

[0065] Specifically, step S200 includes:

[0066] S210, selecting a suitable needle entry point according to the puncture environment between the target CT layer and other CT layers, and according to the location of the target puncture point, and the CT layer where the needle entry point is located is the needle entry CT layer;

[0067] S220, comparing whether the target CT layer and the needle insertion CT layer are the same layer, if the target CT layer and the needle insertion CT layer are the same layer, determining the puncture type as same-layer two-dimensional puncture;

[0068] S230: If the target CT layer and the needle insertion CT layer are different layers, determine that the puncture type is cross-layer three-dimensional puncture.

[0069] S300, when the puncture type is same-layer two-dimensional puncture, determining the same-layer two-dimensional puncture path according to the relative position relationship between the needle entry point and the target puncture point, the same-layer deflection angle from the needle entry point to the target puncture point, and the straight-line distance between the needle entry point and the target puncture point;

[0070] Specifically, the steps for planning the same-layer two-dimensional puncture path are as follows: Figures 1 to 3 As shown, including:

[0071] S310, measuring the vertical distance A between the needle entry point and the target puncture point and the linear distance α between the needle entry point and the target puncture point according to the CT image 1 ;

[0072] S320, calculating the same-layer deflection angle from the needle entry point to the target puncture point according to the vertical distance A between the needle entry point and the target puncture point and the straight-line distance α between the needle entry point and the target puncture point;

[0073] Specifically, the calculation formula for the deflection angle from the needle insertion point to the target puncture point in the same-layer two-dimensional puncture is shown in the following formula (1):

[0074] β=arccos(A / α 1 ) (1)

[0075] Where A represents the vertical distance between the needle insertion point and the target puncture point, α 1 It indicates the straight-line distance between the needle insertion point and the target puncture point in the same-layer two-dimensional puncture.

[0076] S330, determining a same-layer deflection direction from the needle entry point to the target puncture point according to a relative position relationship between the needle entry point and the target puncture point, wherein the same-layer deflection direction from the needle entry point to the target puncture point includes left and right;

[0077] S340, determining a same-layer two-dimensional puncture path according to a same-layer deflection angle from the needle entry point to the target puncture point, a same-layer deflection direction from the needle entry point to the target puncture point, and a straight-line distance between the needle entry point and the target puncture point.

[0078] Specifically, Figure 3 For example, in actual implementation, the puncture needle is placed vertically above the insertion point through a positioning grid (attached to the patient's body surface, which can be developed under CT and has horizontal and vertical scales), and the angle sensor guides the puncture needle to deflect to the left at an angle of β in the same layer, and the needle is inserted at α1 The depth can complete the two-dimensional same-layer puncture process.

[0079] S400, when the puncture type is cross-layer three-dimensional puncture, the target puncture point is mapped from the target CT layer to the needle entry CT layer to obtain a mapping point, the same-layer deflection angle from the needle entry point to the mapping point is calculated, and the cross-layer deflection angle between the ray passing through the target puncture point with the needle entry point as the endpoint and the ray passing through the mapping point with the needle entry point as the endpoint is calculated, and the straight-line distance between the needle entry point and the target puncture point is calculated, and the cross-layer three-dimensional puncture path is determined according to the same-layer deflection angle from the needle entry point to the mapping point, the cross-layer deflection angle, the straight-line distance between the needle entry point and the target puncture point, the relative position relationship between the needle entry point and the mapping point, and the relative position relationship between the needle entry point and the target puncture point.

[0080] Specifically, the steps for cross-layer three-dimensional puncture path planning are as follows: Figure 4 and Figure 5 As shown, including:

[0081] S410, acquiring the number of target CT layers and the number of needle insertion CT layers according to the CT image, and measuring the vertical distance B between the needle insertion point and the mapping point and the linear distance C between the needle insertion point and the mapping point;

[0082] S420, calculating the same-layer deflection angle β1 from the needle entry point to the mapping point according to the vertical distance B between the needle entry point and the mapping point and the straight-line distance C between the needle entry point and the mapping point;

[0083] Specifically, the calculation formula of the same-layer deflection angle β1 between the needle insertion point and the mapping point in cross-layer three-dimensional puncture is shown in the following formula (2):

[0084] β1=arccos(B / C) (2)

[0085] Wherein, B represents the vertical distance between the needle entry point and the mapping point, and C represents the straight-line distance between the needle entry point and the mapping point.

[0086] S430, determining a same-layer deflection direction from the needle entry point to the mapping point according to a relative position relationship between the needle entry point and the mapping point, wherein the same-layer deflection direction from the needle entry point to the mapping point includes left and right;

[0087] S440, calculating the straight-line distance between the target puncture point and the mapping point according to the difference between the number of layers M of the target CT layer and the number of layers N of the needle insertion CT layer, and obtaining the cross-layer thickness D;

[0088] Specifically, the calculation formula of the interlayer thickness D is shown in the following formula (3):

[0089] D=|MN|f (3)

[0090] Wherein, M represents the number of target CT layers, N represents the number of needle insertion CT layers, and f represents the preset thickness of each layer of the CT image.

[0091] S450, calculating the inter-layer deflection angle β2 according to the inter-layer thickness D and the straight-line distance C between the needle entry point and the mapping point, and calculating the straight-line distance α between the needle entry point and the target puncture point 2 ;

[0092] Specifically, the calculation formula for the cross-layer deflection angle in cross-layer three-dimensional puncture is shown in the following formula (4):

[0093] β2=arctan(D / C) (4)

[0094] Where D represents the interlaminar thickness, and C represents the straight-line distance between the needle entry point and the mapping point.

[0095] Specifically, the straight-line distance α between the needle insertion point and the target puncture point in cross-layer three-dimensional puncture 2 The calculation formula is shown in the following formula (5):

[0096]

[0097] Among them, C represents the straight-line distance between the needle entry point and the mapping point, and D represents the interlayer thickness.

[0098] S460, determining a cross-layer deflection direction according to a relative position relationship between the needle entry point and the target puncture point, where the cross-layer deflection direction includes front and back;

[0099] S470, determining a cross-layer three-dimensional puncture path according to the same-layer deflection angle between the needle entry point and the mapping point, the cross-layer deflection angle, and the straight-line distance between the needle entry point and the target puncture point.

[0100] by Figure 4 For example, in actual implementation, the puncture needle is placed vertically above the needle insertion point through a positioning grid (attached to the patient's body surface, which can be visualized under CT and has horizontal and vertical scales). The angle sensor guides the puncture needle to the inside and outside of the needle insertion CT layer, that is, to deflect to the left by an angle of β1, and to the head and foot side, that is, to deflect backward by an angle of β2. The needle is inserted α 2 The depth can complete the cross-layer three-dimensional puncture process.

[0101] The embodiment of the present invention can realize high-precision puncture path planning by accurately calculating the same-layer deflection angle, cross-layer deflection angle, and the distance between the needle entry point and the target puncture point. Compared with the traditional method of blind puncture based on the doctor's experience or relying on electromagnetic navigation and optical navigation, there is no need to purchase expensive navigation equipment, which reduces the medical cost and operation difficulty. The puncture path is planned only based on CT images, and there is no need for multiple registrations, which greatly reduces the puncture time, thereby improving the efficiency of the operation, reducing the patient's exposure time during the operation, and reducing the risk of surgery; and the present invention can realize high-precision puncture path planning based only on CT images, reducing the dependence on complex navigation equipment, reducing the impact of equipment failure on the operation, and effectively reducing the puncture deviation caused by human factors or equipment errors, significantly improving the accuracy of puncture and surgical safety; in addition, the present invention is applicable to a variety of puncture scenarios, including same-layer two-dimensional puncture and cross-layer three-dimensional puncture. Whether it is a simple same-layer puncture or a complex cross-layer puncture, the present invention can provide accurate path planning. This wide applicability enables the present invention to meet the needs of different surgical scenarios and provides greater flexibility for clinical applications.

[0102] In summary, the CT-guided puncture method provided by the present invention not only improves the accuracy of puncture and the safety of surgery, but also significantly shortens the operation time, simplifies the operation process, and reduces medical costs. These advantages make the present invention have broad application prospects in the field of CT interventional treatment, and can provide patients with more efficient and safer medical services.

[0103] In order to further improve the accuracy and safety of puncture, a CT-guided puncture method provided in an embodiment of the present invention further includes:

[0104] S500, simulating the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path on the CT image to perform feasibility verification and safety verification;

[0105] Specifically, the puncture path is simulated on the CT image to check whether the path avoids important tissues and blood vessels, verify the feasibility and safety of the path, and ensure the safety of the puncture process.

[0106] S600: If the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path meets the preset feasibility requirement and safety requirement, perform puncture according to the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path;

[0107] Specifically, the puncture implementation steps include:

[0108] S610, marking the needle insertion point on the body surface of the patient to be punctured;

[0109] S620: Perform puncture operation using the puncture needle according to the planned puncture path. During the puncture process, the CT image can be referenced in real time to ensure that the puncture needle accurately reaches the target puncture point along the predetermined path.

[0110] S630: After the puncture is completed, the accuracy of the puncture point and the puncture effect are verified by CT scanning to ensure the success of the operation.

[0111] S700. If the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path does not meet one of the preset feasibility requirements and safety requirements, repeat steps S200 to S700 to redetermine the needle entry point and re-plan the puncture path until the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path meets the preset feasibility requirements and safety requirements.

[0112] The above-mentioned feasibility verification and safety verification can ensure the safety and accuracy of puncture path planning, further reducing surgical risks.

[0113] Some steps in the embodiments of the present invention may be implemented using software, and the corresponding software program may be stored in a readable storage medium, such as a CD or a hard disk.

[0114] The above are only preferred embodiments of the present invention and are 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 method for puncture based on CT guidance, characterized in that: include: S100, obtaining a CT image of a patient to be punctured, and determining the location of a target puncture point and the CT layer where the target puncture point is located according to the CT image, wherein the CT layer where the target puncture point is located is the target CT layer; S200, determining the needle entry point and judging the puncture type according to the puncture environment between the target CT layer and other CT layers, and according to the location of the target puncture point, wherein the CT layer where the needle entry point is located is the needle entry CT layer, and the puncture types include same-layer two-dimensional puncture and cross-layer three-dimensional puncture, wherein the same-layer two-dimensional puncture means that the target CT layer and the needle entry CT layer are the same layer, and the cross-layer three-dimensional puncture means that the target CT layer and the needle entry CT layer are different layers; S300, when the puncture type is same-layer two-dimensional puncture, determining the same-layer two-dimensional puncture path according to the relative position relationship between the needle entry point and the target puncture point, the same-layer deflection angle from the needle entry point to the target puncture point, and the straight-line distance between the needle entry point and the target puncture point; S400, when the puncture type is cross-layer three-dimensional puncture, the target puncture point is mapped from the target CT layer to the needle entry CT layer to obtain a mapping point, the same-layer deflection angle from the needle entry point to the mapping point is calculated, and the cross-layer deflection angle between the ray with the needle entry point as the endpoint passing through the target puncture point and the ray with the needle entry point as the endpoint passing through the mapping point is calculated, and the straight-line distance between the needle entry point and the target puncture point is calculated, and the cross-layer three-dimensional puncture path is determined according to the same-layer deflection angle from the needle entry point to the mapping point, the cross-layer deflection angle, the straight-line distance between the needle entry point and the target puncture point, the relative position relationship between the needle entry point and the mapping point, and the relative position relationship between the needle entry point and the target puncture point.

2. The method according to claim 1, characterized in that When the puncture type is same-layer two-dimensional puncture, the same-layer two-dimensional puncture path is determined according to the relative position relationship between the needle entry point and the target puncture point, the same-layer deflection angle from the needle entry point to the target puncture point, and the straight-line distance between the needle entry point and the target puncture point, including: S310, measuring the vertical distance between the needle entry point and the target puncture point and the linear distance between the needle entry point and the target puncture point according to the CT image; S320, calculating the same-layer deflection angle from the needle entry point to the target puncture point according to the vertical distance between the needle entry point and the target puncture point and the linear distance between the needle entry point and the target puncture point; S330, determining a same-layer deflection direction from the needle entry point to the target puncture point according to a relative position relationship between the needle entry point and the target puncture point, wherein the same-layer deflection direction from the needle entry point to the target puncture point includes left and right; S340, determining a same-layer two-dimensional puncture path according to a same-layer deflection angle from the needle entry point to the target puncture point, a same-layer deflection direction from the needle entry point to the target puncture point, and a straight-line distance between the needle entry point and the target puncture point.

3. The method according to claim 2, characterized in that The calculation formula for the deflection angle from the needle entry point to the target puncture point in the same-layer two-dimensional puncture is: β=arccos(A / α1) Among them, A represents the vertical distance between the needle entry point and the target puncture point, and α1 represents the straight-line distance between the needle entry point and the target puncture point in the same-layer two-dimensional puncture.

4. The method according to claim 1, characterized in that When the puncture type is cross-layer three-dimensional puncture, the target puncture point is mapped from the target CT layer to the needle insertion CT layer to obtain a mapping point, the same-layer deflection angle from the needle insertion point to the mapping point is calculated, and the angle between the ray passing through the target puncture point with the needle insertion point as the endpoint and the ray passing through the mapping point with the needle insertion point as the endpoint is calculated to obtain the cross-layer deflection angle, and the straight-line distance between the needle insertion point and the target puncture point is calculated, and the cross-layer three-dimensional puncture path is determined according to the same-layer deflection angle from the needle insertion point to the mapping point, the cross-layer deflection angle, the straight-line distance between the needle insertion point and the target puncture point, the relative position relationship between the needle insertion point and the mapping point, and the relative position relationship between the needle insertion point and the target puncture point, including: S410, acquiring the number of target CT layers and the number of needle insertion CT layers according to the CT image, measuring the vertical distance between the needle insertion point and the mapping point, and the linear distance between the needle insertion point and the mapping point; S420, calculating the same-layer deflection angle from the needle entry point to the mapping point according to the vertical distance between the needle entry point and the mapping point and the straight-line distance between the needle entry point and the mapping point; S430, determining a same-layer deflection direction from the needle entry point to the mapping point according to a relative position relationship between the needle entry point and the mapping point, wherein the same-layer deflection direction from the needle entry point to the mapping point includes left and right; S440, calculating the straight-line distance between the target puncture point and the mapping point according to the difference between the number of target CT layers and the number of needle insertion CT layers, and obtaining the inter-layer thickness; S450, calculating the inter-layer deflection angle according to the inter-layer thickness and the straight-line distance between the needle entry point and the mapping point, and calculating the straight-line distance between the needle entry point and the target puncture point; S460, determining a cross-layer deflection direction according to a relative positional relationship between the needle entry point and the target puncture point, wherein the cross-layer deflection direction includes a front direction and a back direction; S470, determining a cross-layer three-dimensional puncture path according to the same-layer deflection angle between the needle entry point and the mapping point, the cross-layer deflection angle, and the straight-line distance between the needle entry point and the target puncture point.

5. The method according to claim 4, characterized in that The calculation formula for the same-layer deflection angle from the needle insertion point to the mapping point in cross-layer three-dimensional puncture is: β1=arccos(B / C) Wherein, B represents the vertical distance between the needle entry point and the mapping point, and C represents the straight-line distance between the needle entry point and the mapping point.

6. The method according to claim 5, characterized in that The calculation formula for the interlayer thickness is: D=|MN|f Wherein, M represents the number of target CT layers, N represents the number of needle insertion CT layers, and f represents the preset thickness of each layer of the CT image.

7. The method according to claim 6, characterized in that The calculation formula of the cross-layer deflection angle in cross-layer three-dimensional puncture is: β2=arctan(D / C) Wherein, D represents the inter-layer thickness, and C represents the straight-line distance between the needle entry point and the mapping point.

8. The method according to claim 7, characterized in that The calculation formula for the straight-line distance between the needle insertion point and the target puncture point in cross-layer three-dimensional puncture is: Wherein, C represents the straight-line distance between the needle entry point and the mapping point, and D represents the inter-layer thickness.

9. The method according to claim 1, characterized in that: Also includes: S500, simulating the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path on the CT image to perform feasibility verification and safety verification; S600: If the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path meets the preset feasibility requirement and safety requirement, perform puncture according to the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path; S700. If the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path does not meet one of the preset feasibility requirements and safety requirements, repeat steps S200 to S700 to redetermine the needle entry point and re-plan the puncture path until the obtained same-layer two-dimensional puncture path or cross-layer three-dimensional puncture path meets the preset feasibility requirements and safety requirements.

Images