Needle point position calibration method, device, system and equipment based on puncture needle spinning and puncture needle system

Abstract

The invention discloses a needle point position calibration method, device, system and equipment based on spinning of a puncture needle and a puncture needle system, and relates to the technical field of medical instruments. The method comprises the following steps: acquiring pose data of an electromagnetic positioning sensor arranged on a puncture needle in the spinning process of the puncture needle; fitting a plane circle by adopting a random sampling consensus algorithm according to the pose data, determining a normal vector and a circle center of the plane circle, and taking the normal vector of the plane circle as a pose vector of the puncture needle in the space; constructing a relative position between the needle point of the puncture needle and the electromagnetic positioning sensor by using a pivot calibration algorithm; determining the attitude vector of the puncture needle under the sensor coordinate system and the center of a plane circle under the sensor coordinate system according to the attitude vector and the relative position of the puncture needle in the space, and determining the position of the needle point of the puncture needle by combining the distance from the center of the electromagnetic positioning sensor to the needle point. The positioning precision of the needle point position of the puncture needle can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular, to a method, device, system, equipment and puncture needle system for calibrating the tip position based on the spin of a puncture needle. Background Art

[0002] In recent years, ablation tools such as puncture and biopsy have been widely used in clinical thermal coagulation of tumor tissues in organs such as the liver, lungs, and kidneys due to their characteristics of small trauma, easy operation, and short operation time. Puncture and ablation surgeries often require the insertion of needles for diagnosis or treatment. In order to accurately place the puncture needle and properly place the needle tip into an organ, blood vessel, or lesion site of interest, precise navigation technology is indispensable. The accuracy of needle insertion can significantly affect the effectiveness of the diagnostic procedure or the success rate of treatment. Since the commonly used pivot method calculates the needle tip position through the least squares method, it is greatly interfered by outliers and can only calculate the position but not the attitude of the needle, which will affect the navigation accuracy and further affect the judgment of the relative position between the lesion and the needle tip during ablation surgery. Summary of the Invention

[0003] The purpose of the present application is to provide a method, device, system, equipment and puncture needle system for calibrating the tip position based on the spin of a puncture needle, which can improve the positioning accuracy of the puncture needle tip position.

[0004] To achieve the above purpose, the present application provides the following solutions:

[0005] In a first aspect, the present application provides a method for calibrating the tip position based on the spin of a puncture needle, including: obtaining the pose data of an electromagnetic positioning sensor provided on the puncture needle during the spin of the puncture needle; fixing the tip of the puncture needle during the spin of the puncture needle; according to the pose data, fitting a plane circle using the random sample consensus algorithm, and determining the normal vector and center of the plane circle, and taking the normal vector of the plane circle as the attitude vector of the puncture needle in space; using the pivot calibration algorithm to construct the relative position between the tip of the puncture needle and the electromagnetic positioning sensor; according to the attitude vector of the puncture needle in space and the relative position, determining the attitude vector of the puncture needle in the sensor coordinate system and the center of the plane circle in the sensor coordinate system; based on the attitude vector of the puncture needle in the sensor coordinate system, the center of the plane circle in the sensor coordinate system, and the distance from the center of the electromagnetic positioning sensor to the tip, determining the tip position of the puncture needle.

[0006] In a second aspect, the present application provides a tip position calibration device based on the spin of a puncture needle, including: a spatial attitude calibration phantom, an electromagnetic positioning reading device, and an electromagnetic positioning sensor. The electromagnetic positioning sensor is disposed on the puncture needle; the spatial attitude calibration phantom is fixed within the magnetic field range, and the relative position between the spatial attitude calibration phantom and the electromagnetic navigation positioning reading device remains unchanged; the spatial attitude calibration phantom is used to place the puncture needle and keep the tip of the puncture needle fixed; the puncture needle spins in the spatial attitude calibration phantom; the electromagnetic positioning reading device is used to collect the pose data of the electromagnetic positioning sensor during the spin of the puncture needle, and use the above-mentioned tip position calibration method based on the spin of the puncture needle to determine the tip position of the puncture needle.

[0007] In a third aspect, the present application provides a puncture needle system, including: a puncture needle and the above-mentioned tip position calibration device based on the spin of the puncture needle.

[0008] In a fourth aspect, the present application provides a tip position calibration system based on the spin of a puncture needle, including: a pose acquisition module, a fitting module, a relative position construction module, an attitude vector determination module, and a tip position determination module.

[0009] The pose acquisition module is used to acquire the pose data of the electromagnetic positioning sensor disposed on the puncture needle during the spin of the puncture needle; the tip of the puncture needle is fixed during the spin of the puncture needle.

[0010] The fitting module is used to fit a plane circle using the random sample consensus algorithm according to the pose data, and determine the normal vector and the center of the plane circle, and use the normal vector of the plane circle as the attitude vector of the puncture needle in space.

[0011] The relative position construction module is used to construct the relative position between the tip of the puncture needle and the electromagnetic positioning sensor using the pivot calibration algorithm.

[0012] The attitude vector determination module is used to determine the attitude vector of the puncture needle in the sensor coordinate system and the center of the plane circle in the sensor coordinate system according to the attitude vector of the puncture needle in space and the relative position.

[0013] The tip position determination module is used to determine the tip position of the puncture needle based on the attitude vector of the puncture needle in the sensor coordinate system, the center of the plane circle in the sensor coordinate system, and the distance from the center of the electromagnetic positioning sensor to the tip.

[0014] In a fifth aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the above-mentioned tip position calibration method based on the spin of the puncture needle.

[0015] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0016] The present application provides a method, device, system, equipment and puncture needle system for calibrating the tip position based on the spin of a puncture needle. When positioning the tip position of the puncture needle, the attitude of the puncture needle is considered. Compared with the existing technology that directly calibrates the tip position without considering the attitude, the positioning accuracy of the tip position of the puncture needle is improved, and the tip of the puncture needle can be placed more accurately in the lesion area to achieve more accurate puncture guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic flowchart of a method for calibrating the tip position based on the spin of a puncture needle provided by an embodiment of the present application;

[0019] Figure 2 It is a schematic diagram of a point set provided by another embodiment of the present application;

[0020] Figure 3 It is a schematic structural diagram of a device for calibrating the tip position based on the spin of a puncture needle provided by an embodiment of the present application;

[0021] Figure 4 It is a schematic structural diagram of a puncture needle provided by an embodiment of the present application;

[0022] Figure 5 It is a schematic structural diagram of a spatial attitude calibration phantom provided by an embodiment of the present application;

[0023] Figure 6 It is a schematic structural diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present application.

[0025] To make the above objects, features and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0026] In an exemplary embodiment, as Figure 1 shown, a method for calibrating the tip position based on the spin of a puncture needle is provided, including the following steps 101 to 105. Among them:

[0027] Step 101: Obtain the pose data of the electromagnetic positioning sensor provided on the puncture needle during the spin of the puncture needle; the tip of the puncture needle is fixed during the spin of the puncture needle.

[0028] Step 102: According to the pose data, use the random sample consensus algorithm to fit a planar circle, and determine the normal vector and the center of the planar circle, and use the normal vector of the planar circle as the attitude vector of the puncture needle in space.

[0029] Step 103: Use the pivot calibration algorithm to construct the relative position between the tip of the puncture needle and the electromagnetic positioning sensor.

[0030] Step 104: According to the attitude vector of the puncture needle in space and the relative position, determine the attitude vector of the puncture needle in the sensor coordinate system and the center of the planar circle in the sensor coordinate system.

[0031] Step 105: Based on the attitude vector of the puncture needle in the sensor coordinate system, the center of the planar circle in the sensor coordinate system, and the distance from the center of the electromagnetic positioning sensor to the tip, determine the tip position of the puncture needle.

[0032] Implementing the above steps 101 to 105, compared with the traditional calibration algorithm, during use, it can estimate the attitude of the puncture needle at the same time. This method can make the puncture needle present a more accurate attitude on the navigation software to achieve more accurate puncture guidance. Compared with the traditional calibration algorithm, the accuracy of estimating the tip position of the puncture needle can reach below 1 mm. Compared with the pivot calibration algorithm based on the least squares, since this application designs a spin method to calibrate the attitude of the puncture needle, compared with directly calibrating the tip position without considering the attitude, when the puncture needle is longer, the accuracy can be improved by 4 mm - 5 mm, that is, the position of the puncture needle can be more accurate and the needle tip can be placed more accurately in the lesion area.

[0033] In another exemplary embodiment of the present application, the tip of the puncture needle is kept fixed, and the puncture needle spins continuously. During the spin, the pose data of the electromagnetic positioning sensor forms a point cloud.

[0034] In another exemplary embodiment of the present application, since the puncture needle makes a spinning motion, the point cloud of the electromagnetic positioning sensor obtained will form a planar circle in the sensor coordinate system. The above step 102 can be replaced by the following steps 201 to 206:

[0035] Step 201: According to the pose data, use the RANdom SAmple Consensus (RANSAC) algorithm to fit a plane and obtain the normal vector of the plane. Wherein, the fitted plane equation is ax + by + cz + d = 0. In this plane equation, a, b, and c are the components of the normal vector of the plane on the x-axis, y-axis, and z-axis respectively, and d is the distance between the plane and the origin. The normal vector of the plane is (a, b, c).

[0036] Step 202: Take as the origin O, as the maximum position point X on the x-axis. After normalizing OX, it is used as the x-axis, and after normalizing the normal vector (a, b, c) of the plane, it is used as the z-axis. Then, use Y = X × Z to obtain the y-axis.

[0037] Step 203: According to the determined origin O, x-axis, y-axis, and z-axis, obtain the homogeneous transformation matrix from the sensor coordinate system to the plane circle coordinate system

[0038] Step 204: Use the homogeneous transformation matrix to convert the pose data to the plane circle coordinate system and obtain the pose data in the plane circle coordinate system.

[0039] Step 205: According to the pose data in the plane circle coordinate system, use the random sampling consensus algorithm to fit a plane circle and obtain the center of the plane circle in the plane circle coordinate system.

[0040] The point set obtained according to the pose data in the plane circle coordinate system is as Figure 2 shown. According to Figure 2 the shown point set, a plane circle can be obtained.

[0041] Step 206: Multiply the center of the plane circle in the plane circle coordinate system by the homogeneous transformation matrix to obtain the center of the plane circle in the sensor coordinate system.

[0042] In another exemplary embodiment of the present application, the relative position between the tip of the puncture needle and the electromagnetic positioning sensor is represented as a transformation matrix. The transformation matrix is:

[0043]

[0044] Wherein, (x', y', z', w) is the quaternion information in the pose data of the electromagnetic positioning sensor, and (t x , t y , t z ) is the three-dimensional coordinate of the tip of the puncture needle.

[0045] In another exemplary embodiment of the present application, based on the above conversion matrix, the process of determining the attitude vector of the puncture needle in the sensor coordinate system in step 104 can be: multiplying the attitude vector of the puncture needle in space by the inverse conversion matrix to obtain the attitude vector of the puncture needle in the sensor coordinate system.

[0046] In another exemplary embodiment of the present application, the formula for determining the tip position of the puncture needle is:

[0047]

[0048] where, (x tip , y tip , z tip ) are the three-dimensional coordinates of the tip position of the puncture needle, (x needle , y needle , z needle ) are the three-dimensional coordinates of the center of the plane circle in the sensor coordinate system, (X needle , Y needle , Z needle ) is the attitude vector of the puncture needle in the sensor coordinate system, and t is the distance from the center of the electromagnetic positioning sensor to the tip.

[0049] The beneficial effects of the calibration method based on the spin of the puncture needle in the present application are as follows:

[0050] 1. Compared with the traditional calibration method, this method improves the accuracy from 5 mm to about 1 mm, enabling the navigation system to more accurately guide the placement of the puncture needle.

[0051] 2. The traditional calibration method requires placing the sensor at the tip of the puncture needle, which does not conform to the design of the ablation system. This method can also improve the accuracy of placing the sensor at the end of the puncture needle to 1 mm, providing convenience for the design of the ablation system.

[0052] 3. The traditional calibration method can only calculate the relative position relationship and does not calculate the attitude. This method calculates the attitude of the puncture needle while optimizing the tip position of the puncture needle, helping to accurately place the electrode needle in the target ablation lesion area.

[0053] Based on the same inventive concept, the embodiment of the present application also provides a puncture needle spin-based tip position calibration device for implementing the above-mentioned puncture needle spin-based tip position calibration method. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the puncture needle spin-based tip position calibration device provided below can refer to the limitations on the puncture needle spin-based tip position calibration method in the above text, and will not be repeated here.

[0054] In an exemplary embodiment, asFigure 3 As shown in the figure, a tip position calibration device based on the spin of a puncture needle is provided, including: a spatial attitude calibration phantom, an electromagnetic positioning reading device, and an electromagnetic positioning sensor. The electromagnetic positioning sensor is arranged on the puncture needle. The spatial attitude calibration phantom is fixed within the magnetic field range, and the relative position between the spatial attitude calibration phantom and the electromagnetic navigation positioning reading device remains unchanged. The spatial attitude calibration phantom is used to place the puncture needle and keep the tip of the puncture needle fixed; the puncture needle spins in the spatial attitude calibration phantom. The electromagnetic positioning reading device is used to collect the pose data of the electromagnetic positioning sensor during the spin of the puncture needle, and determine the tip position of the puncture needle by using the above-mentioned tip position calibration method based on the spin of the puncture needle. The structure of the puncture needle is as Figure 4 shown, and the structure of the spatial attitude calibration phantom is as Figure 5 shown.

[0055] In this application, the puncture needle is subjected to specified actions in the designed spatial attitude calibration phantom, and at the same time, the data of the electromagnetic positioning sensor is collected, and this data is used to calculate the attitude of the puncture needle relative to the electromagnetic positioning sensor and the relative position of the tip. The calibration method proposed in this application can improve the accuracy of calculating the attitude and position of the puncture needle relative to the sensor.

[0056] As an optional implementation manner, the tip position calibration device based on the spin of the puncture needle further includes: a magnetic field generator. The magnetic field generator is used to generate a magnetic field, and the spatial attitude calibration phantom is fixed within the magnetic field range.

[0057] The electromagnetic navigation module is a complete set of spatial position perception devices, including a magnetic field generator, an electromagnetic positioning reading device, and an electromagnetic positioning sensor. The electromagnetic positioning sensor is rigidly linked to the puncture needle. The spatial attitude calibration phantom is fixed in the coordinate system of the electromagnetic navigation module itself. The puncture needle is fixed in the spatial attitude calibration phantom, and the position and attitude of the puncture needle are determined by detecting the relative positions of the electromagnetic positioning sensor and the electromagnetic positioning reading device. The coordinate system formed by the sensor on the puncture needle can be displayed in the coordinate system of the electromagnetic navigation module itself. By conducting the transformation relationship, the relative position and relative attitude of the puncture needle tip and the coordinate system of the electromagnetic navigation itself are calculated, so as to optimize the relative position and relative attitude between the puncture needle tip and the sensor.

[0058] The device of the present application utilizes the spin of a puncture needle carrying a sensor to collect a series of data on the spin of the sensor, and then solves the attitude of the puncture needle and optimizes the position of the tip of the puncture needle, thereby effectively improving the surgical precision. The puncture needle can be presented more accurately under the navigation interface, so as to place the puncture needle more accurately at the lesion location. At the same time, the spin and pivot calibration algorithms of the puncture needle in this device can both be manual rotation movements of the puncture needle. In order to obtain better precision improvement and leave more design space for this device, a rotating motor can be designed to make the spin obtain higher precision. Since the sensor cannot be placed at the tip of the electrode needle during ablation surgery and is usually placed near the handle, when the sensor is located at the handle position, due to the long length of the needle, traditional calibration algorithms will produce errors when calculating the position of the needle tip, with an error reaching 4 mm - 5 mm, which is unacceptable in puncture navigation. The spin calibration method can further calibrate after obtaining the estimated position of the needle tip by the traditional calibration method, reducing the error to less than 1 mm, enabling higher precision in surgical navigation.

[0059] Among them, for implementing this implementation manner, the core of puncture needle calibration is: obtaining the relative positions of the tip of the puncture needle, the attitude of the puncture needle, and the sensor. Based on the position and attitude of the sensor, translation and rotation can be performed to obtain the attitude and the position of the tip of the puncture needle in the self-coordinate system of the electromagnetic navigation, and then the puncture needle can be drawn more accurately in the navigation interface.

[0060] During implementation, based on the electromagnetic navigation module, it is necessary to use the needle tip position calibration method to determine the relative position relationship between the tip of the puncture needle and the sensor, and use the spin calibration method to further optimize the relative position relationship between the tip of the puncture needle and the sensor and the relative attitude between the puncture needle and the sensor. In the present application, the corresponding relative position relationships are obtained through the needle tip position calibration algorithm and spin calibration.

[0061] As an optional implementation manner, the module in the electromagnetic positioning reading device that executes the above-mentioned needle tip position calibration method based on the spin of the puncture needle is the calibration module. The calibration module includes a traditional needle tip position calibration unit for the puncture needle and a spin calibration unit for the puncture needle. The traditional needle tip position calibration unit for the puncture needle uses the pivot calibration algorithm to construct the relative position between the tip of the puncture needle and the sensor, and determine the relative position of the tip of the puncture needle in the self-coordinate system of the electromagnetic navigation. The spin calibration unit for the puncture needle is used to optimize the relative position and relative attitude between the tip of the puncture needle and the sensor, and calculate the relative position and relative attitude of the tip of the puncture needle in the self-coordinate system of the electromagnetic navigation through the conduction of transformation relationships.

[0062] In an exemplary embodiment, the present application provides a puncture needle system, including: a puncture needle and the above-mentioned needle tip position calibration device based on the spin of the puncture needle.

[0063] In an exemplary embodiment, the present application provides a tip position calibration system based on the spin of a puncture needle, including a pose acquisition module, a fitting module, a relative position construction module, an attitude vector determination module, and a tip position determination module.

[0064] The pose acquisition module is configured to acquire the pose data of an electromagnetic positioning sensor disposed on the puncture needle during the spin of the puncture needle; the tip of the puncture needle is fixed during the spin of the puncture needle.

[0065] The fitting module is configured to fit a planar circle using the random sample consensus algorithm according to the pose data, and determine the normal vector and the center of the planar circle, and use the normal vector of the planar circle as the attitude vector of the puncture needle in space.

[0066] The relative position construction module is configured to construct the relative position between the tip of the puncture needle and the electromagnetic positioning sensor using the pivot calibration algorithm.

[0067] The attitude vector determination module is configured to determine the attitude vector of the puncture needle in the sensor coordinate system and the center of the planar circle in the sensor coordinate system according to the attitude vector of the puncture needle in space and the relative position.

[0068] The tip position determination module is configured to determine the tip position of the puncture needle based on the attitude vector of the puncture needle in the sensor coordinate system, the center of the planar circle in the sensor coordinate system, and the distance from the center of the electromagnetic positioning sensor to the tip.

[0069] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal, and its internal structure diagram may be as shown in Figure 6 The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the tip position of the puncture needle. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a tip position calibration method based on the spin of a puncture needle.

[0070] Those skilled in the art can understand, Figure 6The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0071] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0072] In this article, specific examples are used to elaborate on the principle and implementation manner of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation on this application.

Claims

1. A method for calibrating the tip position based on the spin of a puncture needle, characterized in that, Including: Obtain the pose data of the electromagnetic positioning sensor arranged on the puncture needle during the spinning process of the puncture needle; During the spinning process of the puncture needle, the tip of the puncture needle is fixed; According to the pose data, use the random sample consensus algorithm to fit a plane circle, and determine the normal vector and the center of the plane circle. Take the normal vector of the plane circle as the attitude vector of the puncture needle in space; Use the pivot calibration algorithm to construct the relative position between the tip of the puncture needle and the electromagnetic positioning sensor; According to the attitude vector of the puncture needle in space and the relative position, determine the attitude vector of the puncture needle in the sensor coordinate system and the center of the plane circle in the sensor coordinate system; Based on the attitude vector of the puncture needle in the sensor coordinate system, the center of the plane circle in the sensor coordinate system, and the distance from the center of the electromagnetic positioning sensor to the tip of the needle, determine the tip position of the puncture needle.

2. The method for calibrating the tip position based on the spin of the puncture needle according to claim 1, wherein According to the pose data, use the random sample consensus algorithm to fit a plane circle, and determine the normal vector and the center of the plane circle. Specifically, it includes: According to the pose data, use the random sample consensus algorithm to fit a plane, and obtain the normal vector of the plane. Among them, the equation of the fitted plane is ax + by + cz + d = 0, where a, b, and c are the components of the normal vector of the plane on the x-axis, y-axis, and z-axis respectively, and d is the distance between the plane and the origin; the normal vector of the plane is (a, b, c); Take as the origin O, take as the maximum position point X on the x-axis. After normalizing OX, it serves as the X-axis. After normalizing the normal vector (a, b, c) of the plane, it serves as the Z-axis, and the Y-axis is obtained using Y = X × Z; According to the determined origin O, X-axis, Y-axis, and Z-axis, obtain the homogeneous transformation matrix from the sensor coordinate system to the plane circle coordinate system Use the homogeneous transformation matrix to convert the pose data to the plane circle coordinate system, and obtain the pose data in the plane circle coordinate system; According to the pose data in the plane circle coordinate system, use the random sample consensus algorithm to fit a plane circle, and obtain the center of the plane circle in the plane circle coordinate system; Multiply the center of the plane circle in the plane circle coordinate system by the homogeneous transformation matrix to obtain the center of the plane circle in the sensor coordinate system.

3. The method for calibrating the tip position based on the rotation of the puncture needle according to claim 1, wherein Express the relative position between the tip of the puncture needle and the electromagnetic positioning sensor as a transformation matrix; The transformation matrix is: where (x', y', z', w) is the quaternion information in the pose data of the electromagnetic positioning sensor, and (t x , t y , t z ) are the three-dimensional coordinates of the tip of the puncture needle.

4. The method for calibrating the tip position based on the rotation of the puncture needle according to claim 3, wherein According to the attitude vector of the puncture needle in space and the relative position, determine the attitude vector of the puncture needle in the sensor coordinate system. Specifically, it includes: Multiply the attitude vector of the puncture needle in space by the inverse of the transformation matrix to obtain the attitude vector of the puncture needle in the sensor coordinate system.

5. The method for calibrating the tip position based on the spin of the puncture needle according to claim 1, wherein The determination formula for the tip position of the puncture needle is: Among them, (x tip , y tip , z tip ) are the three-dimensional coordinates of the tip position of the puncture needle, (x needle , y needle , z needle ) are the three-dimensional coordinates of the center of the plane circle in the sensor coordinate system, (X needle , Y needle , Z needle ) is the attitude vector of the puncture needle in the sensor coordinate system, and t is the distance from the center of the electromagnetic positioning sensor to the tip of the needle.

6. A tip position calibration device based on the spin of a puncture needle, characterized in that, The tip position calibration device based on the spinning of the puncture needle includes: a space attitude calibration phantom, an electromagnetic positioning reading device, and an electromagnetic positioning sensor; The electromagnetic positioning sensor is arranged on the puncture needle; The space attitude calibration phantom is fixed within the magnetic field range, and the relative position between the space attitude calibration phantom and the electromagnetic navigation positioning reading device remains unchanged; The space attitude calibration phantom is used to place the puncture needle and keep the tip of the puncture needle fixed; the puncture needle spins in the space attitude calibration phantom; The electromagnetic positioning reading device is used to collect the pose data of the electromagnetic positioning sensor during the spinning process of the puncture needle, and use the tip position calibration method based on the spinning of the puncture needle described in any one of claims 1-5 to determine the tip position of the puncture needle.

7. The needle tip position calibration device based on the rotation of the puncture needle according to claim 6, characterized in that The tip position calibration device based on the spinning of the puncture needle further includes: a magnetic field generator; The magnetic field generator is used to generate a magnetic field, and the space attitude calibration phantom is fixed within the magnetic field range.

8. A puncture needle system, characterized in that, Including: A puncture needle and a tip position calibration device based on puncture needle spin according to any one of claims 6-7.

9. A tip position calibration system based on the spin of a puncture needle, characterized in that, Comprising: A pose acquisition module for acquiring the pose data of an electromagnetic positioning sensor provided on the puncture needle during the spin of the puncture needle; The tip of the puncture needle is fixed during the spin of the puncture needle; A fitting module for fitting a planar circle using the random sample consensus algorithm according to the pose data, and determining the normal vector and the center of the planar circle, and taking the normal vector of the planar circle as the pose vector of the puncture needle in space; A relative position construction module for constructing the relative position between the tip of the puncture needle and the electromagnetic positioning sensor using the pivot calibration algorithm; A pose vector determination module for determining the pose vector of the puncture needle in the sensor coordinate system and the center of the planar circle in the sensor coordinate system according to the pose vector of the puncture needle in space and the relative position; A tip position determination module for determining the tip position of the puncture needle based on the pose vector of the puncture needle in the sensor coordinate system, the center of the planar circle in the sensor coordinate system, and the distance from the center of the electromagnetic positioning sensor to the tip; 10. A computer device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the tip position calibration method based on puncture needle spin according to any one of claims 1-5.

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