Electromagnetic puncture needle tube position detection method and system

Abstract

The invention relates to the technical field of electromagnetic puncture needle equipment operation detection, and discloses an electromagnetic puncture needle tube position detection method and system.The method comprises the steps that a first coil and a second coil are arranged in a puncture needle tube, and an electromagnetic coupling structure is formed by applying a high-frequency narrow-pulse excitation signal with the preset frequency; therefore, a detection voltage value between the two coils is obtained; whether the puncture needle is displaced or not is judged by comparing the detection voltage with the preset voltage, and the movement distance of the puncture needle is further reversely deduced according to the change of the detection voltage, so that whether the puncture needle reaches the preset puncture position or not is judged; when the puncture needle does not reach the target position, dynamically calculating an adjustment coefficient based on the change trend of the detection voltage value and the historical detection voltage value so as to adjust the power supply current and control the puncture needle to continuously advance until the puncture needle reaches the set position; when the puncture needle reaches the preset puncture position, alarm information is triggered to remind an operator. The operation position of the puncture needle is effectively detected.

Description

Technical Field

[0001] The present invention relates to the technical field of operation detection of electromagnetic puncture needle devices, and in particular, to a method and system for detecting the position of an electromagnetic puncture needle tube. Background Technique

[0002] Electromagnetic puncture needle tubes are widely used in thermal steam ablation devices, especially during ablation surgeries in urology. Its structure usually consists of two electromagnetic coils, a plastic skeleton, and an embedded strong magnet. By applying current to the coils to form a magnetic field, the puncture needle tube is driven to move in a specific direction using the principle of magnetic pole attraction or repulsion to achieve puncture or retraction actions. This structure has advantages such as a compact mechanism and flexible control, and has gradually replaced some mechanical puncture structures.

[0003] Currently, in the prior art, during the working process of electromagnetic puncture needle tubes, the completion of puncture usually depends on manual visual inspection or indirect signals. For example, doctors observe the position of the needle tip through an endoscope or judge whether it is in place by the feeling of puncture. This way relying on subjective experience has obvious defects: on the one hand, it is difficult to accurately observe the puncture depth in narrow and complex cavities such as the human urethra; on the other hand, the system itself lacks a closed-loop control mechanism, cannot dynamically adjust the driving current according to the change of the puncture position, nor can it achieve automatic warning, which easily leads to problems such as incomplete puncture or mis-puncture, thereby affecting the treatment effect or causing medical accidents.

[0004] Therefore, there is an urgent need to design a method for real-time detection of the movement state of electromagnetic puncture needle tubes to solve the technical problems that existing electromagnetic puncture needle tubes lack real-time displacement detection and closed-loop control mechanisms during the working process, rely on manual visual inspection to judge whether the puncture is in place, resulting in low puncture accuracy and poor safety. Summary of the Invention

[0005] In view of this, the present invention proposes a method and system for detecting the position of an electromagnetic puncture needle tube, aiming to solve the technical problems that existing electromagnetic puncture needle tubes lack real-time displacement detection and closed-loop control mechanisms during the working process, rely on manual visual inspection to judge whether the puncture is in place, resulting in low puncture accuracy and poor safety.

[0006] The present invention proposes a method for detecting the position of an electromagnetic puncture needle tube, including:

[0007] Configure a first coil and a second coil inside the puncture needle tube, configure a high-frequency narrow pulse excitation signal with a preset frequency between the first coil and the second coil, and obtain the detected voltage value between the first coil and the second coil;

[0008] Determine whether the puncture needle moves according to the relationship between the detected voltage value and the preset voltage value configured, and determine whether the preset puncture position is reached according to the relationship between the moving distance and the preset moving distance;

[0009] Wherein, if it is determined that the puncture needle does not reach the preset puncture position, then determine the adjustment coefficient according to the relationship between the detected voltage value and the historical detected voltage value in the adjacent time period, and supply direct current to the first coil and the second coil according to the current amount adjusted by the adjustment coefficient;

[0010] If it is determined that the puncture needle reaches the preset puncture position, then send an alarm message.

[0011] Further, when determining whether the puncture needle moves according to the relationship between the detected voltage value and the preset voltage value configured, it includes:

[0012] Connect the input end of the first coil in parallel with the output end of the second coil;

[0013] Based on the high-frequency narrow pulse excitation signal of the preset frequency, obtain the detected voltage between the first coil and the second coil, and determine it as the preset voltage value;

[0014] Determine whether the puncture needle moves according to the relationship between the detected voltage value and the preset voltage value configured:

[0015] When the detected voltage value is consistent with the preset voltage value, it is determined that the puncture needle moves;

[0016] When the detected voltage value is inconsistent with the preset voltage value, it is determined that the puncture needle moves, and the moving distance of the puncture needle is determined according to the voltage difference between the detected voltage value and the preset voltage value.

[0017] Further, when determining whether the preset puncture position is reached according to the relationship between the moving distance and the preset moving distance, it includes:

[0018] Based on the mapping relationship model between the voltage difference and the voltage and the moving distance of the puncture needle pre-configured, determine the moving distance of the puncture needle, and determine whether the preset puncture position is reached according to the relationship between the moving distance and the preset moving distance:

[0019] When the moving distance is lower than the preset moving distance, it is determined that the puncture needle does not reach the preset puncture position;

[0020] When the moving distance is equal to the preset moving distance, it is determined that the puncture needle reaches the preset puncture position.

[0021] Further, when pre-configuring the mapping relationship model between the voltage and the moving distance of the puncture needle, it includes:

[0022] Obtain the status of the puncture needle at each physical position, and obtain the voltage value between the first coil and the second coil under the status of each physical position;

[0023] Establish the voltage correlation formula for each position according to the relationship between the physical position and its corresponding voltage value;

[0024] Obtain the distance metric between the voltage correlation formulas for each position based on the Euclidean distance, and establish a linear axis between the voltage correlation formulas for each position according to the distance metric;

[0025] Obtain the linear relationship between the voltage correlation formulas for each position, and perform interpolation correction on the linear axis;

[0026] Establish a voltage-displacement data set according to the corrected linear axis, and establish a mapping relationship model between the voltage and the moving distance of the puncture needle according to the voltage-displacement data set.

[0027] Further, when establishing the mapping relationship model between the voltage and the moving distance of the puncture needle according to the voltage-displacement data set, it includes:

[0028] Normalize, filter and denoise the voltage values in the voltage-displacement data set, and remove the outliers in the voltage-displacement data set to improve the data quality;

[0029] Select a non-linear fitting model and adopt a training strategy of K-fold cross-validation. Divide the data set into multiple combinations of training sets and validation sets for the voltage-displacement data set, and train and evaluate the model performance respectively;

[0030] Determine the optimal model structure and hyperparameter configuration according to the results of each fold of cross-validation, and perform iterative optimization using the loss function to minimize the model prediction error;

[0031] Obtain the function mapping relationship between the voltage and the moving distance, and establish a mapping relationship model between the voltage and the moving distance of the puncture needle according to the function mapping relationship between the voltage and the moving distance.

[0032] Further, when determining the adjustment coefficient according to the relationship between the detected voltage value and the historical detected voltage value in the adjacent time period, it includes:

[0033] Obtain the physical position of the detected voltage value and the historical physical position of the historical detected voltage value in the adjacent time period;

[0034] Obtain the distance between the detected voltage value and the historical detected voltage value according to the relationship between the physical position and the historical physical position;

[0035] Determine the adjustment coefficient according to the relationship between the distance and the configured first preset distance and second preset distance;

[0036] When the distance is lower than the first preset distance, then determine that the adjustment coefficient is L1;

[0037] When the distance is higher than or equal to the first preset distance and lower than the second preset distance, then determine that the adjustment coefficient is L2;

[0038] When the distance is higher than or equal to the second preset distance, then determine that the adjustment coefficient is L3;

[0039] Wherein, the first preset distance is lower than the second preset distance, and L1 < L2 < L3.

[0040] Furthermore, when determining that the adjustment coefficient is Li, i = 1, 2, 3, it includes:

[0041] According to the historical detection voltage value and current value in adjacent time periods, obtain the preset arrival position of the puncture needle, and obtain the preset distance between the historical detection voltage value in adjacent time periods and the preset arrival position, and determine whether to correct the adjustment coefficient according to the relationship between the preset distance and the distance:

[0042] When the preset distance is consistent with the distance, then determine not to correct the adjustment coefficient;

[0043] When the preset distance is inconsistent with the distance, then determine the correction coefficient according to the distance difference between the preset distance and the distance, and correct the adjustment coefficient according to the correction coefficient.

[0044] Furthermore, when determining the correction coefficient according to the distance difference between the preset distance and the distance, it includes:

[0045] Determine the correction coefficient according to the relationship between the distance difference and the configured first preset distance and second preset distance:

[0046] When the distance difference is less than or equal to the first preset distance difference, then determine that the correction coefficient is K3;

[0047] When the distance difference is greater than the first preset distance difference and less than or equal to the second preset distance difference, then determine that the correction coefficient is K2;

[0048] When the distance difference is greater than the second preset distance difference, then determine that the correction coefficient is K1;

[0049] Wherein, the first preset distance difference is less than the second preset distance difference, and K1 < 1 < K2 < K3.

[0050] Compared with the prior art, the beneficial effects of the present invention are as follows: By configuring a first coil and a second coil inside the puncture needle tube and applying a high-frequency narrow pulse excitation signal with a preset frequency between the two, a highly sensitive electromagnetic induction detection system is constructed. This system can collect the detected voltage value between the first coil and the second coil in real time, and by comparing it with the preset voltage value, effectively determine whether the puncture needle has displaced, thereby realizing the instant perception and accurate feedback of the puncture behavior, and solving the problem that the position of the puncture needle cannot be monitored in real time in the traditional method. Secondly, by establishing a correlation model between the voltage value and the moving distance of the puncture needle, the actual moving distance of the puncture needle can be judged according to the difference between the current detected voltage and the historical data, and further compared whether the preset puncture position has been reached. This mechanism significantly improves the judgment accuracy of the puncture depth, avoids the problem of too shallow or too deep puncture caused by only relying on the naked eye or subjective judgment in the prior art, and helps to ensure the treatment effect and safety of the ablation surgery. Finally, when the detection result indicates that the puncture needle has not reached the target position, based on the change trend of the detected voltage and the historical detected voltage in the adjacent time period, the adjustment coefficient is dynamically calculated, and the direct current supply current to the first coil and the second coil is corrected accordingly, so as to drive the puncture needle to move further. This method realizes the dynamic feedback adjustment of the puncture control process, forms a complete closed loop, and improves the adaptive control ability for sudden displacement deviation. When it is determined that the puncture needle has accurately reached the preset position, an alarm message is immediately sent through the control module to prompt the operator that the puncture action has been completed. This function not only avoids unnecessary repeated operations, but also can be used as a trigger signal for the automated execution process, providing support for subsequent treatment steps, and further improving the intelligence and automation level of electromagnetic puncture.

[0051] On the other hand, the present application also provides an electromagnetic puncture needle tube position detection system, including:

[0052] An acquisition module, configured to apply a high-frequency narrow pulse excitation signal with a preset frequency between the first coil and the second coil inside the puncture needle tube, and obtain the detected voltage value between the first coil and the second coil;

[0053] A central control module, electrically connected to the acquisition module, and the analysis module is configured to determine whether the puncture needle moves according to the relationship between the detected voltage value and the configured preset voltage value, and determine whether the preset puncture position is reached according to the relationship between the moving distance and the preset moving distance;

[0054] Wherein, if it is determined that the puncture needle has not reached the preset puncture position, the central control module determines the adjustment coefficient according to the relationship between the detected voltage value and the historical detected voltage value in the adjacent time period, and supplies direct current to the first coil and the second coil according to the adjusted current amount of the adjustment coefficient;

[0055] When it is determined that the puncture needle reaches the preset puncture position, the central control module sends an alarm message.

[0056] The acoustic-optical alarm module is configured with a sound alarm unit and a light warning unit, and is configured to perform acoustic-optical alarm when the central control module needs to send an alarm message.

[0057] It can be understood that the electromagnetic puncture needle tube position detection method and system in the above embodiments have the same beneficial effects, which will not be repeated here. Brief Description of the Drawings

[0058] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0059] Figure 1 is a flowchart of a method for detecting the position of a magnetic puncture needle tube provided by an embodiment of the present invention;

[0060] Figure 2 is a functional block diagram of an electromagnetic puncture needle tube position detection system provided by an embodiment of the present invention. Detailed Embodiments

[0061] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. Hereinafter, the present invention will be described in detail with reference to the drawings and in conjunction with the embodiments.

[0062] As Figure 1 shown, in some embodiments of the present application, this embodiment provides an electromagnetic puncture needle tube position detection method, including:

[0063] Step S100: Configure a first coil and a second coil inside the puncture needle tube, configure a high-frequency narrow pulse excitation signal with a preset frequency between the first coil and the second coil, and obtain the detected voltage value between the first coil and the second coil.

[0064] It can be understood that by arranging the first coil and the second coil inside the puncture needle tube, a small electromagnetic detection system is constructed. The arrangement positions of the two coils are relatively fixed. When the strong magnet inside the puncture needle moves, its magnetic field intensity and distribution pattern will affect the electromagnetic coupling degree between the coils. Especially when the puncture needle is stationary or moves to different positions, the induced voltage formed between the two coils will show obvious differences, and this difference becomes an important physical basis for judging the movement state of the puncture needle. To enhance the sensitivity and stability of the detection, a high-frequency narrow pulse excitation signal with a preset frequency is injected between the two coils. High-frequency excitation has stronger anti-interference ability and higher time resolution, and the narrow pulse design can effectively reduce signal superposition and redundant energy consumption, enabling the detection voltage to respond to small changes in the position of the puncture needle in a short time. The frequency, duty cycle, and amplitude of the excitation signal are all optimized to ensure that the excitation signal neither interferes with human tissues nor can obtain a stable and repeatable response voltage under low-power conditions. While the excitation signal is applied, the voltage values between the first coil and the second coil are collected in real time. Since the position of the strong magnet in the puncture needle directly affects the electromagnetic coupling degree, the detection voltage value changes regularly as the puncture needle moves. By calibrating the voltage values corresponding to different positions, a voltage-displacement mapping model can be established, so that the current displacement of the puncture needle can be inversely deduced through the model for any subsequent detection voltage acquisition, realizing position judgment and control.

[0065] Step S200: Determine whether the puncture needle moves according to the relationship between the detected voltage value and the configured preset voltage value, and determine whether the preset puncture position is reached according to the relationship between the moving distance and the preset moving distance; wherein, if it is determined that the puncture needle has not reached the preset puncture position, then determine the adjustment coefficient according to the relationship between the detected voltage value and the historical detected voltage value in the adjacent time period, and supply direct current to the first coil and the second coil according to the current amount adjusted by the adjustment coefficient; if it is determined that the puncture needle reaches the preset puncture position, then send an alarm message.

[0066] Specifically, when determining whether the puncture needle moves according to the relationship between the detected voltage value and the configured preset voltage value, it includes: connecting the input end of the first coil in parallel with the output end of the second coil; based on the high-frequency narrow pulse excitation signal with a preset frequency, obtain the detected voltage between the first coil and the second coil and determine it as the preset voltage value; determine whether the puncture needle moves according to the relationship between the detected voltage value and the configured preset voltage value: when the detected voltage value is consistent with the preset voltage value, it is determined that the puncture needle moves; when the detected voltage value is inconsistent with the preset voltage value, it is determined that the puncture needle moves, and the moving distance of the puncture needle is determined according to the voltage difference between the detected voltage value and the preset voltage value.

[0067] Specifically, when determining whether the preset puncture position is reached according to the relationship between the moving distance and the preset moving distance, it includes: based on the voltage difference and the pre-configured mapping relationship model between the voltage and the moving distance of the puncture needle, determining the moving distance of the puncture needle, and according to the relationship between the moving distance and the preset moving distance, determining whether the preset puncture position is reached: when the moving distance is lower than the preset moving distance, it is determined that the puncture needle has not reached the preset puncture position; when the moving distance is equal to the preset moving distance, it is determined that the puncture needle has reached the preset puncture position.

[0068] It can be understood that inside the puncture needle tube, by connecting the input end of the first coil in parallel with the output end of the second coil, a highly sensitive electromagnetic detection path is formed. This structure facilitates the formation of a closed magnetic circuit and at the same time improves the response ability to magnetic field changes. When a high-frequency narrow pulse excitation signal is externally applied, an electromagnetic field will form a stable and controllable excitation environment in the puncture needle, thereby causing a change in the induced voltage between the two coils. Since a permanent magnet is usually configured in the puncture needle, its physical displacement during the puncture process will affect the electromagnetic coupling degree between the coils. Therefore, the detected voltage value becomes a key electrical signal index reflecting the current position of the puncture needle. Secondly, to determine the puncture state, a "detected voltage value - preset voltage value" comparison mechanism is set up. By obtaining the detected voltage values at multiple key positions during the initial calibration stage, a set of "preset voltage values" can be configured. During actual operation, when the obtained detected voltage value is consistent with the corresponding preset value, it is determined that the puncture needle has not moved; if the detected value is inconsistent with the preset value, it indicates that the puncture needle has displaced. This comparison mechanism is simple and effective, realizing the instant monitoring of the puncture dynamic state. In addition, further, based on the voltage difference between the detected voltage value and the preset voltage value, the specific moving distance of the puncture needle can be deduced. This relies on the prior constructed "voltage-displacement mapping relationship model". This model is a functional relationship constructed through experimental data or fitting algorithms, describing the voltage difference corresponding to the puncture needle at different positions, thus realizing the ability to reverse-deduce the displacement amount from the detected voltage change. Finally, when determining whether the puncture position has reached the target position (i.e., the preset puncture depth), the real-time measured moving distance is compared with the set preset moving distance. When the moving distance is less than the preset value, it means that the puncture has not been completed; when the two are equal, it indicates that the puncture needle has accurately reached the target area. This process completes the displacement closed-loop control through the whole process of electromagnetic induction monitoring and voltage-displacement model analysis, without the need for external sensors or imaging devices.

[0069] It can be seen that by configuring a first coil and a second coil inside the puncture needle tube and using a high-frequency narrow pulse signal for excitation, a high-sensitivity detection voltage value reflecting the physical position of the puncture needle can be obtained. By comparing the detection voltage value with a preset voltage value, not only can it be determined whether the puncture needle has displaced, but also the specific moving distance can be further calculated. Compared with the traditional method of judging the puncture position based on vision, touch, or single-point sensors, the monitoring accuracy of the puncture displacement is greatly improved. Secondly, this solution can not only detect whether the puncture needle has moved, but more importantly, based on the displacement mapping model corresponding to the voltage difference, it can quantify the displacement of the needle tube during the puncture process, and then compare it with the preset puncture depth to achieve an automatic judgment of whether the target position has been reached. The entire process does not require manual intervention, has real-time performance and intelligence, improves the system's autonomous decision-making ability, and facilitates the closed-loop control of subsequent puncture operations. In addition, this method uses the dynamic voltage difference as the quantification basis for puncture displacement and has good environmental adaptability. When signal deviations occur due to external changes such as patient signs, tissue impedance, or electromagnetic interference, the system can still dynamically correct the state judgment of the puncture needle through the monitoring of the voltage difference and model reasoning, thereby maintaining the stability and reliability of the puncture control system. Finally, traditional puncture methods are prone to over-puncturing or under-puncturing due to misjudgment, especially in anatomical structures with complex and narrow spaces, where the risk is higher. This solution can intelligently identify the puncture state based on the voltage value, and in particular, it can issue an alarm prompt when the puncture needle reaches the preset puncture position, effectively avoiding operation risks such as mis-puncture and missed-puncture, thereby improving the safety guarantee level of the puncture operation.

[0070] Specifically, when pre-configuring the mapping relationship model between the voltage and the moving distance of the puncture needle, it includes: obtaining the state of the puncture needle at each physical position and obtaining the voltage value between the first coil and the second coil under the state of each physical position; establishing a voltage correlation formula for each position according to the relationship between the physical position and its corresponding voltage value; obtaining the distance metric between the voltage correlation formulas for each position based on the Euclidean distance, and establishing a linear axis between the voltage correlation formulas for each position according to the distance metric; obtaining the linear relationship between the voltage correlation formulas for each position and interpolating and correcting the linear axis; establishing a voltage-displacement data set according to the corrected linear axis, and establishing a mapping relationship model between the voltage and the moving distance of the puncture needle according to the voltage-displacement data set.

[0071] Specifically, when establishing the mapping relationship model between voltage and the moving distance of the puncture needle according to the voltage-displacement data set, it includes: normalizing, filtering, and denoising the voltage values in the voltage-displacement data set, and removing the outliers in the voltage-displacement data set to improve the data quality; selecting a non-linear fitting model and adopting the training strategy of K-fold cross-validation, dividing the voltage-displacement data set into multiple combinations of training sets and validation sets, training and evaluating the model performance respectively; according to the results of each fold of cross-validation, determining the optimal model structure and hyperparameter configuration, and using the loss function for iterative optimization to minimize the model prediction error; obtaining the function mapping relationship between voltage and moving distance, and establishing the mapping relationship model between voltage and the moving distance of the puncture needle according to the function mapping relationship between voltage and moving distance.

[0072] It can be understood that by configuring the first coil and the second coil inside the puncture needle tube and using a high-frequency narrow pulse signal for excitation, a high-sensitivity detection voltage value reflecting the physical position of the puncture needle can be obtained. By comparing the detected voltage value with the preset voltage value, not only can it be judged whether the puncture needle has displaced, but also its specific moving distance can be further calculated. Compared with the traditional method of judging the puncture position based on vision, touch, or single-point sensors, the monitoring accuracy of the puncture displacement is greatly improved. Secondly, this solution can not only detect whether the puncture needle has moved, but also quantify the displacement of the needle tube during the puncture process based on the displacement mapping model corresponding to the voltage difference, and then compare it with the preset puncture depth to realize the automatic judgment of whether the target position has been reached. The whole process does not require manual intervention, has real-time performance and intelligence, improves the system's autonomous decision-making ability, and facilitates the closed-loop control of subsequent puncture operations. In addition, this method uses the dynamic voltage difference as the quantization basis for puncture displacement and has good environmental adaptability. When signal deviations occur due to external changes such as patient signs, tissue impedance, or electromagnetic interference, the system can still dynamically correct the state judgment of the puncture needle through the monitoring of the voltage difference and model reasoning, so as to maintain the stability and reliability of the puncture control system. Finally, traditional puncture methods are prone to situations such as over-puncturing or under-puncturing due to misjudgment, especially in cavities with complex anatomical structures and narrow spaces, where the risk is higher. This solution can intelligently identify the puncture state according to the voltage value, especially when the puncture needle reaches the preset puncture position, it can issue an alarm prompt to effectively avoid operation risks such as mis-puncture and missed-puncture, thereby improving the safety guarantee level of the puncture operation.

[0073] Specifically, when determining the adjustment coefficient according to the relationship between the detected voltage value and the historical detected voltage values in adjacent time periods, it includes: obtaining the physical position of the detected voltage value and the historical physical positions of the historical detected voltage values in adjacent time periods; obtaining the distance between the detected voltage value and the historical detected voltage values according to the relationship between the physical position and the historical physical positions; determining the adjustment coefficient according to the relationship between the distance and the configured first preset distance and second preset distance; when the distance is lower than the first preset distance, then determine the adjustment coefficient as L1; when the distance is higher than or equal to the first preset distance and lower than the second preset distance, then determine the adjustment coefficient as L2; when the distance is higher than or equal to the second preset distance, then determine the adjustment coefficient as L3; where the first preset distance is lower than the second preset distance, and L1 < L2 < L3.

[0074] Specifically, when determining the adjustment coefficient as Li, i = 1, 2, 3, it includes: obtaining the preset arrival position of the puncture needle according to the historical detected voltage value and the current value in adjacent time periods, obtaining the preset distance between the historical detected voltage value in adjacent time periods and the preset arrival position, and determining whether to correct the adjustment coefficient according to the relationship between the preset distance and the distance: when the preset distance is consistent with the distance, then determine not to correct the adjustment coefficient; when the preset distance is inconsistent with the distance, then determine the correction coefficient according to the distance difference between the preset distance and the distance, and correct the adjustment coefficient according to the correction coefficient.

[0075] Specifically, when determining the correction coefficient according to the distance difference between the preset distance and the distance, it includes: determining the correction coefficient according to the relationship between the distance difference and the configured first preset distance difference and second preset distance difference: when the distance difference is less than or equal to the first preset distance difference, then determine the correction coefficient as K3; when the distance difference is greater than the first preset distance difference and less than or equal to the second preset distance difference, then determine the correction coefficient as K2; when the distance difference is greater than the second preset distance difference, then determine the correction coefficient as K1; where the first preset distance difference is less than the second preset distance difference, and K1 < 1 < K2 < K3.

[0076] It is understandable that by comparing the spatial distance between the physical position corresponding to the detected voltage value at the current moment and the historical physical position corresponding to the historical detected voltage value in the adjacent period, the position information difference between the two is obtained. Using this spatial distance as the core parameter, it is used to quantify the amplitude of the current puncture needle position change and its relationship with the historical position. Based on the calculated spatial distance, two threshold distances (the first preset distance and the second preset distance) are preset, and the adjustment coefficient is divided into three levels L1, L2, and L3 based on this as the division standard, corresponding to different ranges of distances respectively. The larger the distance, the higher the adjustment coefficient, which reflects the hierarchical control of the response to the puncture needle position change, is conducive to dynamically adjusting the supply current, and realizes precise and sensitive control of the puncture needle. Further, to improve the accuracy of the adjustment coefficient, the technical solution introduces a correction mechanism. By comparing the currently measured spatial distance with the preset distance to the preset arrival position corresponding to the historical detected voltage value, it is judged whether the two are consistent. If there is a deviation, the corresponding correction coefficients (K1, K2, K3) are determined according to the magnitude of the distance difference, and the adjustment coefficient is dynamically corrected. This design ensures that the adjustment coefficient not only responds to the current displacement change, but also takes into account the rationality and stability of the historical position, improving the anti-interference and adaptive adjustment capabilities. In addition, the numerical settings of the correction coefficients satisfy K1 < 1 < K2 < K3, and combined with the hierarchical judgment of the distance difference, flexible amplification or reduction of the adjustment coefficient is achieved. This multi-level adjustment mechanism can effectively cope with abnormal position changes or environmental disturbances that may occur during the puncture process, ensuring the accuracy of current adjustment and the safety and reliability of the puncture action.

[0077] It can be seen that by introducing a dynamic adjustment mechanism based on the physical position distance between the detected voltage value and the historical detected voltage value in the adjacent period, an accurate response to the change in the position of the puncture needle is achieved. By setting different distance intervals corresponding to different adjustment coefficients L1, L2, and L3, the driving current can be automatically adjusted according to the real-time motion state of the puncture needle, ensuring the control accuracy while avoiding excessive current adjustment, and improving the safety and stability of the puncture operation. In addition, the technical solution sets up multiple-level adjustment coefficients, and the adjustment coefficients increase gradually as the distance increases, effectively enhancing the sensitivity to abnormal changes in the position of the puncture needle and making corresponding current adjustments in a timely manner, which helps to prevent misoperations and potential risks during the puncture process and ensures that the puncture needle can reach the preset position accurately and reliably. Further, a correction coefficient is introduced based on the difference between the preset distance and the current distance between the historical detected voltage value and the preset arrival position, enhancing the adaptive correction ability of the adjustment coefficient. This mechanism can dynamically compensate for the deviation caused by environmental interference or measurement error, maintain robustness and accuracy, and significantly improve the reliability of puncture needle position detection and control. Finally, the hierarchical design of the correction coefficient (K1 < 1 < K2 < K3) enables the adjustment coefficient to be appropriately amplified to quickly respond to abnormal changes and also reduces the adjustment amplitude to prevent excessive fluctuations, thereby achieving delicate control of the puncture process and optimizing the overall performance and user operation experience.

[0078] In the above embodiments, by configuring a first coil and a second coil inside the puncture needle tube and applying a high-frequency narrow pulse excitation signal with a preset frequency between the two, a highly sensitive electromagnetic induction detection system is constructed. This system can collect the detected voltage value between the first coil and the second coil in real time, and by comparing it with the preset voltage value, effectively determine whether the puncture needle has displaced, thereby realizing the instant perception and accurate feedback of the puncture behavior, and solving the problem that the position of the puncture needle cannot be monitored in real time in traditional methods. Secondly, by establishing a correlation model between the voltage value and the moving distance of the puncture needle, the actual moving distance of the puncture needle can be judged according to the difference between the current detected voltage and the historical data, and further compared to determine whether the preset puncture position has been reached. This mechanism significantly improves the judgment accuracy of the puncture depth, avoids the problems of too shallow or too deep puncture caused by only relying on the naked eye or subjective judgment in the prior art, and helps to ensure the treatment effect and safety of the ablation surgery. Finally, when the detection result indicates that the puncture needle has not reached the target position, based on the change trend of the detected voltage and the historical detected voltage in the adjacent time period, the adjustment coefficient is dynamically calculated, and accordingly the DC supply current of the first coil and the second coil is corrected, so as to drive the puncture needle to move further. This method realizes the dynamic feedback regulation of the puncture control process, forms a complete closed loop, and improves the adaptive regulation ability for sudden displacement deviation. When it is determined that the puncture needle has accurately reached the preset position, an alarm message is immediately sent through the control module to prompt the operator that the puncture action has been completed. This function not only avoids unnecessary repeated operations, but also can be used as a trigger signal for the automated execution process, providing support for subsequent treatment steps, and further improving the intelligence and automation level of electromagnetic puncture.

[0079] In another preferred manner based on the above embodiments, as Figure 2 shown, this embodiment provides an electromagnetic puncture needle tube position detection system, including: a collection module, a central control module, and an acoustic-optic alarm module.

[0080] Specifically, the acquisition module is configured to configure a high-frequency narrow pulse excitation signal with a preset frequency between the first coil and the second coil inside the puncture needle tube, and obtain the detected voltage value between the first coil and the second coil; the central control module is electrically connected to the acquisition module, and the analysis module is configured to determine whether the puncture needle moves according to the relationship between the detected voltage value and the configured preset voltage value, and determine whether the preset puncture position is reached according to the relationship between the moving distance and the preset moving distance; wherein if it is determined that the puncture needle does not reach the preset puncture position, the central control module determines an adjustment coefficient according to the relationship between the detected voltage value and the historical detected voltage value in the adjacent time period, and supplies a direct current to the first coil and the second coil according to the current amount adjusted by the adjustment coefficient; if it is determined that the puncture needle reaches the preset puncture position, the central control module sends an alarm message. The sound and light alarm module is configured with a sound alarm unit and a light warning unit, and the sound and light alarm module is configured to perform sound and light alarms when the central control module needs to send an alarm message.

[0081] It can be understood that the electromagnetic puncture needle tube position detection method and system in the above embodiments have the same beneficial effects and will not be elaborated here.

[0082] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowcharts and / or block diagrams can be implemented by computer program instructions, and the combination of processes and / or blocks in the flowcharts and / or block diagrams can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0084] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device implements the functions in the process Figure 1one or more processes and / or blocks Figure 1 the functions specified in one or more blocks.

[0085] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 one or more processes and / or blocks Figure 1 or more processes and / or blocks.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific implementation manners of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. An electromagnetic puncture needle tube position detection method, characterized in that, Including: A first coil and a second coil are arranged inside the puncture needle tube, a high-frequency narrow pulse excitation signal with a preset frequency is configured between the first coil and the second coil, and a detected voltage value between the first coil and the second coil is obtained; According to the relationship between the detected voltage value and the configured preset voltage value, it is determined whether the puncture needle moves, and according to the relationship between the moving distance and the preset moving distance, it is determined whether the preset puncture position is reached; Wherein, if it is determined that the puncture needle does not reach the preset puncture position, then according to the relationship between the detected voltage value and the historical detected voltage value in the adjacent time period, an adjustment coefficient is determined, and a direct current is supplied to the first coil and the second coil according to the current amount adjusted by the adjustment coefficient; If it is determined that the puncture needle reaches the preset puncture position, an alarm message is sent.

2. The electromagnetic puncture needle tube position detection method according to claim 1, characterized in that When determining whether the puncture needle moves according to the relationship between the detected voltage value and the configured preset voltage value, it includes: Connect the input end of the first coil in parallel with the output end of the second coil; Based on the high-frequency narrow pulse excitation signal with a preset frequency, the detected voltage between the first coil and the second coil is obtained and determined as the preset voltage value; According to the relationship between the detected voltage value and the configured preset voltage value, it is determined whether the puncture needle moves: When the detected voltage value is consistent with the preset voltage value, it is determined that the puncture needle moves; When the detected voltage value is inconsistent with the preset voltage value, it is determined that the puncture needle moves, and according to the voltage difference between the detected voltage value and the preset voltage value, the moving distance of the puncture needle is determined.

3. The electromagnetic puncture needle tube position detection method according to claim 2, wherein When determining whether the preset puncture position is reached according to the relationship between the moving distance and the preset moving distance, it includes: Based on the voltage difference and the pre-configured mapping relationship model between the voltage and the moving distance of the puncture needle, the moving distance of the puncture needle is determined, and according to the relationship between the moving distance and the preset moving distance, it is determined whether the preset puncture position is reached: When the moving distance is lower than the preset moving distance, it is determined that the puncture needle does not reach the preset puncture position; When the moving distance is equal to the preset moving distance, it is determined that the puncture needle reaches the preset puncture position.

4. The electromagnetic puncture needle tube position detection method according to claim 3, characterized in that, When pre-configuring the mapping relationship model between the voltage and the moving distance of the puncture needle, it includes: Obtain the states of the puncture needle at each physical position, and obtain the voltage values between the first coil and the second coil in the states of each physical position; According to the relationship between the physical position and its corresponding voltage value, establish the voltage correlation formula for each position; Obtain the distance metric between the voltage correlation formulas for each position based on the Euclidean distance, and establish a linear axis between the voltage correlation formulas for each position according to the distance metric; Obtain the linear relationship between the voltage correlation formulas for each position, and perform interpolation correction on the linear axis; According to the corrected linear axis, establish a voltage-displacement data set, and establish a mapping relationship model between the voltage and the moving distance of the puncture needle according to the voltage-displacement data set.

5. The magnetic puncture needle tube position detection method according to claim 4, characterized in that, When establishing the mapping relationship model between the voltage and the moving distance of the puncture needle according to the voltage-displacement data set, it includes: Perform normalization, filtering and denoising processing on the voltage values in the voltage-displacement data set, and remove the outliers in the voltage-displacement data set to improve the data quality; Select a non - linear fitting model and adopt a training strategy of K - fold cross - validation. Divide the voltage - displacement data set into multiple combinations of training sets and validation sets, and train and evaluate the model performance respectively; According to the results of each fold of cross - validation, determine the optimal model structure and hyperparameter configuration, and use the loss function for iterative optimization to minimize the model prediction error; Obtain the function mapping relationship between voltage and moving distance, and establish a mapping relationship model between voltage and the moving distance of the puncture needle according to the function mapping relationship between voltage and moving distance.

6. The magnetic puncture needle tube position detection method according to claim 5, wherein, When determining the adjustment coefficient according to the relationship between the detected voltage value and the historical detected voltage values in adjacent time periods, it includes: Obtain the physical position of the detected voltage value and the historical physical positions of the historical detected voltage values in adjacent time periods; Obtain the distance between the detected voltage value and the historical detected voltage values according to the relationship between the physical position and the historical physical positions; Determine the adjustment coefficient according to the relationship between the distance and the configured first preset distance and second preset distance; When the distance is lower than the first preset distance, then determine the adjustment coefficient as L1; When the distance is higher than or equal to the first preset distance and lower than the second preset distance, then determine the adjustment coefficient as L2; When the distance is higher than or equal to the second preset distance, then determine the adjustment coefficient as L3; Wherein, the first preset distance is lower than the second preset distance, and L1 < L2 < L3.

7. The magnetic puncture needle tube position detection method according to claim 6, wherein, When determining the adjustment coefficient as Li, i = 1, 2, 3, it includes: According to the historical detected voltage value and the current value in adjacent time periods, obtain the preset arrival position of the puncture needle, and obtain the preset distance between the historical detected voltage value in adjacent time periods and the preset arrival position. Then, according to the relationship between the preset distance and the distance, determine whether to correct the adjustment coefficient: When the preset distance is consistent with the distance, then determine not to correct the adjustment coefficient; When the preset distance is inconsistent with the distance, then determine the correction coefficient according to the distance difference between the preset distance and the distance, and correct the adjustment coefficient according to the correction coefficient.

8. The magnetic puncture needle tube position detection method according to claim 7, wherein, When determining the correction coefficient according to the distance difference between the preset distance and the distance, it includes: Determine the correction coefficient according to the relationship between the distance difference and the configured first preset distance difference and second preset distance difference: When the distance difference is less than or equal to the first preset distance difference, then determine the correction coefficient as K3; When the distance difference is greater than the first preset distance difference and less than or equal to the second preset distance difference, then determine the correction coefficient as K2; When the distance difference is greater than the second preset distance difference, then determine the correction coefficient as K1; Wherein, the first preset distance difference is less than the second preset distance difference, and K1 < 1 < K2 < K3.

9. An electromagnetic puncture needle tube position detection system, which adopts a magnetic puncture needle tube position detection method as described in any one of claims 1-8, is characterized in that, It includes: A collection module configured to apply a high - frequency narrow - pulse excitation signal with a preset frequency between the first coil and the second coil inside the puncture needle tube, and obtain the detected voltage value between the first coil and the second coil; The central control module is electrically connected to the acquisition module. The analysis module is configured to determine whether the puncture needle moves according to the relationship between the detected voltage value and the configured preset voltage value, and determine whether the preset puncture position is reached according to the relationship between the moving distance and the preset moving distance; Among them, if it is determined that the puncture needle has not reached the preset puncture position, the central control module determines the adjustment coefficient according to the relationship between the detected voltage value and the historical detected voltage value in the adjacent time period, and supplies direct current to the first coil and the second coil according to the current amount adjusted by the adjustment coefficient; If it is determined that the puncture needle reaches the preset puncture position, the central control module sends an alarm message.

10. The electromagnetic puncture needle tube position detection system according to claim 9, wherein, It also includes: The sound and light alarm module is configured with a sound alarm unit and a light warning unit. The sound and light alarm module is configured to perform sound and light alarms when the central control module needs to send an alarm message.

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