Angle positioning auxiliary puncture method and system based on strapdown inertial navigation

Abstract

The invention relates to an angle positioning auxiliary puncture method and system based on strapdown inertial navigation, and belongs to the technical field of auxiliary puncture. Comprising the following steps: acquiring a medical image, and marking a starting point and a target point on the medical image; calculating left and right side degree values according to the starting point and the target point, and judging a calculation formula of head and foot side radian values according to absolute values of the left and right side degree values; according to the left and right side degree values and the head and foot side radian value, a puncture head and foot side angle and left and right side angles are calculated; displaying head and foot side angles and left and right side angles; the puncture needle provided with the positioning auxiliary module is calibrated, the calibrated puncture needle is used for puncturing an object to be punctured, and the path angle of the puncture needle is displayed in real time; judging whether the path angle is consistent with the head-foot side angle and the left-right side angle or not; and if not, the path angle of the puncture needle is adjusted. The accuracy of positioning the puncture angle can be improved, and the complexity and difficulty of a puncture operation are reduced, so that the operation time is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of assisted puncture, and in particular to an angle positioning assisted puncture method and system based on strapdown inertial navigation. Background Art

[0002] In traditional puncture intervention surgeries, doctors mainly rely on medical images (such as X-rays, CTs, or ultrasound imaging) to roughly judge the cephalocaudal direction and left-right angle of the puncture point. However, even for experienced doctors, this process is still extremely challenging and requires a large amount of surgical practice to master the angle control skills proficiently. During the surgery, doctors usually need to repeatedly adjust the position of the puncture needle and use medical imaging equipment to scan the patient multiple times to ensure the accuracy and safety of the puncture. This traditional method is not only time-consuming and laborious, increasing the complexity and difficulty of the surgery, but also exposes the patient to the risk of multiple imaging scans, increasing the potential harm to the patient.

[0003] In addition, in traditional puncture surgeries, doctors lack real-time navigation tools during the operation, and cannot guarantee the accuracy of the position of the puncture needle. This "blind puncture" method not only increases the difficulty and risk of the surgery, but also may lead to complications such as puncture failure, pneumothorax, and bleeding. For some complex surgical scenarios, such as punctures for patients with severe liver cirrhosis, the limitations of the traditional method are particularly obvious. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the disadvantages of being time-consuming and laborious, having high complexity, high difficulty, and low accuracy in the prior art.

[0005] In a first aspect, to solve the above technical problem, the present invention provides an angle positioning assisted puncture method based on strapdown inertial navigation, including:

[0006] Obtain a medical image, and mark the starting point and the target point on the medical image; calculate the left-right degree value according to the starting point and the target point; determine the calculation formula of the cephalocaudal arc value according to the absolute value of the left-right degree value; calculate the cephalocaudal angle and the left-right angle of the puncture according to the left-right degree value and the cephalocaudal arc value; display the cephalocaudal angle and the left-right angle;

[0007] Calibrate the puncture needle equipped with a positioning assistance module, perform puncture on the object to be punctured by using the calibrated puncture needle, and display the path angle of the puncture needle in real time;

[0008] Judge whether the path angle is consistent with the cephalocaudal angle and the left-right angle; when they are consistent, complete the puncture; when they are inconsistent, adjust the path angle of the puncture needle.

[0009] In one embodiment of the present invention, the steps of calculating the cephalocaudal angle and the left - right angle of the puncture are as follows:

[0010] Obtain the three - dimensional coordinates of the starting point and the target point respectively, and use the three - dimensional coordinates of the starting point as the reference point to calculate a three - dimensional vector;

[0011] Use the three - dimensional vector to calculate the left - right radian value and convert the left - right radian value into a left - right degree value;

[0012] Obtain the absolute value of the left - right degree value, and use different formulas to calculate the cephalocaudal radian value when the absolute value is greater than the preset degree and when it is not greater than the preset degree; convert the cephalocaudal radian value into a cephalocaudal degree value;

[0013] Convert the cephalocaudal degree value and the left - right degree value into the form of standard angles to obtain the cephalocaudal angle and the left - right angle.

[0014] In one embodiment of the present invention, the calculation formula for the left - right degree value is:

[0015]

[0016] where θ LR is the left - right degree value, x1 is the X - axis coordinate value of the starting point, y1 is the Y - axis coordinate value of the starting point, x2 is the X - axis coordinate value of the target point, y2 is the Y - axis coordinate value of the target point, and π is the pi.

[0017] In one embodiment of the present invention, when using different formulas to calculate the cephalocaudal radian value when the absolute value is greater than the preset degree and when it is not greater than the preset degree, when the absolute value is greater than the preset degree, use the first formula to calculate the cephalocaudal radian value, and the first formula is:

[0018]

[0019] When the absolute value is not greater than the preset degree, use the second formula to calculate the cephalocaudal radian value, and the second formula is:

[0020]

[0021] where, is the cephalocaudal radian value, x1 is the X - axis coordinate value of the starting point, y1 is the Y - axis coordinate value of the starting point, z1 is the Z - axis coordinate value of the starting point, x2 is the X - axis coordinate value of the target point, y2 is the Y - axis coordinate value of the target point, and z2 is the Z - axis coordinate value of the target point.

[0022] In one embodiment of the present invention, the method for converting the cephalocaudal degree value and the left - right degree value into the standard angle form is as follows: take the absolute values of the left - right degree value and the cephalocaudal degree value; determine the positive or negative sign of the cephalocaudal degree value through the Z - axis vector in the three - dimensional vector; determine the positive or negative sign of the left - right degree value through the X - axis vector in the three - dimensional vector.

[0023] In one embodiment of the present invention, the standard for calibrating the puncture needle equipped with the positioning assistance module is that both the cephalocaudal and left - right angles of the puncture needle are shown to be within 0.5 degrees.

[0024] In a second aspect, to solve the above - mentioned technical problems, the present invention provides an angle - positioning - assisted puncture system based on strap - down inertial navigation, including:

[0025] An angle calculation module, which is used to obtain a medical image, mark a starting point and a target point on the medical image; calculate the left - right degree value according to the starting point and the target point; determine the calculation formula of the cephalocaudal radian value according to the absolute value of the left - right degree value; calculate the cephalocaudal angle and the left - right angle of the puncture according to the left - right degree value and the cephalocaudal radian value;

[0026] A display module, which is used to display the cephalocaudal angle and the left - right angle;

[0027] A positioning and calibration module, which is used to calibrate the puncture needle equipped with the positioning assistance module; start puncturing on the object to be punctured with the calibrated puncture needle, and transmit the path angle of the puncture needle to the display module in real time;

[0028] An auxiliary judgment module, which is used to judge whether the path angle is consistent with the cephalocaudal angle and the left - right angle; when they are consistent, the puncture is completed; when they are inconsistent, adjust the path angle of the puncture needle.

[0029] In one embodiment of the present invention, the positioning assistance module includes an inertial measurement element, and the inertial measurement element is used to obtain the position data of the puncture needle.

[0030] In one embodiment of the present invention, it further includes a receiving module. The receiving module is connected to the positioning assistance module and is used to receive the path angle of the puncture needle; the receiving module is connected to the display module through a USB interface and is used to transmit the path angle of the puncture needle to the display module.

[0031] In one embodiment of the present invention, the angle calculation module is connected to a medical imaging device. The medical imaging device includes a scanning host, and the medical imaging device sends the medical image to the angle calculation module through the scanning host.

[0032] In a third aspect, to solve the above technical problems, the present invention provides a surgical robot, including the above-described angle positioning assisted puncture system based on strapdown inertial navigation.

[0033] The above technical solution of the present invention has the following beneficial effects compared with the prior art:

[0034] (1) For the angle positioning assisted puncture method and system based on strapdown inertial navigation of the present invention, the starting point and the target point are accurately marked on the medical image, and the cephalocaudal angle and the left-right angle required for puncture are calculated accordingly. These angle information can be transmitted to the display screen in real time to provide intuitive navigation support for doctors. At the same time, a puncture needle equipped with a positioning assistance module is used for calibration to ensure accurate puncture of the puncture needle on the object to be punctured, and the path angle of the puncture needle is fed back to the display screen in real time. Doctors can visually judge on the display screen whether the path angle is consistent with the preset cephalocaudal angle and left-right angle. If they are consistent, the puncture is completed; if not, the path angle of the puncture needle is adjusted according to the prompt. The present invention improves the accuracy of positioning the puncture angle in the puncture operation, reduces the complexity and difficulty of the operation, shortens the operation time, and improves the safety and efficiency of the operation.

[0035] (2) The present invention can improve the accuracy and safety of puncture, effectively reduce the deviation during the puncture process, and reduce the risk of accidental puncture through precise coordinate transformation, conversion between radians and degrees, conditional judgment, and conversion of standard angles.

[0036] (3) The angle positioning assisted puncture system provided by the present invention has good scalability and compatibility, can adapt to various types of medical images, is applicable to various puncture operation scenarios, and has a wide application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to make the content of the present invention easier to be clearly understood, the following further details the present invention according to specific embodiments of the present invention in conjunction with the drawings, where:

[0038] Figure 1 is a flowchart of an angle positioning assisted puncture method based on strapdown inertial navigation in a preferred embodiment of the present invention;

[0039] Figure 2 is a flowchart of a method for calculating the cephalocaudal angle and the left-right angle in a preferred embodiment of the present invention;

[0040] Figure 3 is a structural diagram of an angle positioning assisted puncture system based on strapdown inertial navigation in a preferred embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and be able to implement it, but the embodiments cited are not intended to limit the present invention.

[0042] Embodiment 1

[0043] Referring to Figure 1 As shown, the embodiment of the present invention provides an angle positioning assisted puncture method based on strapdown inertial navigation, including:

[0044] S1. Obtain a medical image, mark the starting point and the target point on the medical image; calculate the left and right side degree values according to the starting point and the target point; determine the calculation formula of the cephalocaudal arc value according to the absolute value of the left and right side degree values; calculate the cephalocaudal angle and the left and right side angles of the puncture according to the left and right side degree values and the cephalocaudal arc value; display the cephalocaudal angle and the left and right side angles.

[0045] S2. Calibrate the puncture needle equipped with the positioning assistance module, perform puncture on the object to be punctured with the calibrated puncture needle, and display the path angle of the puncture needle in real time.

[0046] S3. Determine whether the path angle is consistent with the cephalocaudal angle and the left and right side angles; when they are consistent, the puncture is completed; when they are inconsistent, adjust the path angle of the puncture needle.

[0047] The embodiment of the present invention provides an angle positioning assisted puncture method based on strapdown inertial navigation. By marking the starting point and the target point on the medical image and calculating the cephalocaudal angle and the left and right side angles of the puncture according to these points. Then, these angles can be displayed in real time to provide real-time navigation for doctors. Using the puncture needle equipped with the positioning assistance module for calibration can ensure accurate puncture of the puncture needle on the object to be punctured and transmit the path angle of the puncture needle to the display screen in real time. On the display screen, the doctor can determine whether the path angle is consistent with the cephalocaudal angle and the left and right side angles. If they are consistent, the puncture is completed; if they are inconsistent, the path angle of the puncture needle is adjusted. This design can obtain accurate quantitative data for individual cases before the puncture operation, provide actual operation parameters for minimally invasive treatment, thus meeting the clinical individualization and precision requirements, overcoming the limitation of relying only on the experience of the surgeon to perform the puncture, and effectively reducing the number of times of continuously using radiological imaging devices such as DR (Digital Radiography) or CT (Computed Tomography) during the operation, reducing the impact of radiation on patients and operators. Therefore, the embodiment of the present invention improves the accuracy of positioning the puncture angle during the puncture operation, reduces the complexity and difficulty of the puncture operation, and shortens the operation time.

[0048] Specifically, referring to Figure 2 , for step S1, the specific steps of calculating the cephalocaudal angle and the left and right side angles of the puncture according to the starting point and the target point are:

[0049] S110. Obtain the three-dimensional coordinates of the starting point and the target point respectively, mark them as P1(x1, y1, z1) and P2(x2, y2, z2), and use the three-dimensional coordinates of the starting point as the reference point to calculate the three-dimensional vector where the three-dimensional vector has the following mathematical expression:

[0050]

[0051] S120. Use the three-dimensional vector to calculate the left and right side radian values, and convert the left and right side radian values into left and right side degree values. The calculation formula for the left and right side degree values is as follows:

[0052]

[0053] where θ LR is the left and right side degree value, x1 is the X-axis coordinate value of the starting point, y1 is the Y-axis coordinate value of the starting point, x2 is the X-axis coordinate value of the target point, y2 is the Y-axis coordinate value of the target point, and π is the pi.

[0054] S130. Obtain the absolute value of the left and right side degree values. When the absolute value is greater than the preset degree , use the first formula to calculate the cephalocaudal radian value; otherwise, use the second formula to calculate the cephalocaudal radian value. The specific calculation process is as follows:

[0055] Case 1: When , use the first formula to calculate the cephalocaudal radian value The mathematical expression of the first formula is:

[0056]

[0057] where is the cephalocaudal radian value, z1 is the Z-axis coordinate value of the starting point, and z2 is the Z-axis coordinate value of the target point.

[0058] Case 2: When , use the second formula to calculate the cephalocaudal radian value The mathematical expression of the second formula is:

[0059]

[0060] Then, convert the calculated cephalocaudal radian value into the cephalocaudal degree value θ HF , and the specific conversion formula is:

[0061]

[0062] In this embodiment, according to the experimental results of actual clinical body position placement, the preset degree is set to 45°.

[0063] S140. Convert the obtained head-foot side degree value and left-right side degree value into the form of standard angles. This representation of standard angles can be more intuitive and convenient for doctors to observe and analyze. The specific conversion method (or steps) is as follows:

[0064] S141. Take the absolute values of the left-right side degree value θ LR and the head-foot side degree value θ HF , and mark them as |θ LR | and |θ HF | respectively;

[0065] S142. Determine the positive and negative signs of the left-right side degree value through the Z-axis vector (i.e., (z2 - z1)) in the three-dimensional vector; specifically, if (z2 - z1) is negative, it is head-to-foot side, and the angle is positive, otherwise the angle is negative.

[0066] Determine the positive and negative signs of the head-foot side degree value through the X-axis vector (i.e., (x2 - x1)) in the three-dimensional vector; specifically, if (x2 - x1) is negative, it is right-to-left side, and the angle is positive, otherwise the angle is negative.

[0067] Furthermore, through steps S141 and S142, the head-foot side angle and the left-right side angle can be obtained.

[0068] In this embodiment, through steps S110 to S140, that is, precise coordinate conversion, conversion between radians and degrees, conditional judgment, and conversion of standard angles, the accuracy and safety of puncture can be improved, which has important guiding significance for doctors in actual operations. In step S110, by obtaining the three-dimensional coordinates of the starting point and the target point and calculating the three-dimensional vector, the puncture direction and angle can be accurately determined. This helps to improve the accuracy and safety of puncture. In step S120, converting the radian value to the degree value makes the angle easier to understand and apply. In step S130, according to the comparison between the absolute value of the left-right side degree value and the preset degree, different formulas are selected to calculate the head-foot side radian value. This conditional judgment can ensure the most accurate results in different situations. In step S140, by determining the positive and negative signs of the angle through the X-axis and Z-axis vectors of the three-dimensional vector, the puncture direction can be more accurately described. This helps doctors to better control the puncture angle in actual operations.

[0069] Specifically, for step S2, before using the puncture needle equipped with the positioning assistance module, calibration work needs to be carried out. In this embodiment, the calibration standard is that the cephalocaudal and left-right angles of the puncture needle are both shown to be within 0.5 degrees. By strictly controlling the initial cephalocaudal and left-right angles of the puncture needle within 0.5 degrees, the positioning accuracy of the puncture needle can be significantly improved, ensuring that the puncture needle can accurately reach the target position. At the same time, precise angle calibration can effectively reduce the deviation during the puncture process, reduce the risk of accidental puncture, and improve the safety and success rate of the surgery.

[0070] Specifically, based on the cephalocaudal angle and left-right angle displayed in real time in step S1, and the path angle of the puncture needle displayed in real time in step S2, in step S3, the path angle, cephalocaudal angle, and left-right angle can be refreshed in real time through the display screen, and these angle information can be continuously displayed during the puncture intervention surgery. This real-time display function can help the doctor visually observe the current angle of the puncture needle, so as to adjust the puncture direction more precisely.

[0071] The angle positioning assistance puncture method provided by the embodiment of the present invention can help the doctor make precise decisions quickly during the surgery, effectively reduce unnecessary angle adjustments and repeated operations, thereby significantly shortening the surgery time. The shortening of the surgery time not only reduces the pain of the patient, but also reduces the surgical risk and further improves the safety of the surgery.

[0072] Embodiment 2

[0073] Based on the same inventive concept, this embodiment provides an angle positioning assistance puncture system based on strapdown inertial navigation. The principle of solving problems is similar to that of the angle positioning assistance puncture method based on strapdown inertial navigation provided in Embodiment 1, and the repeated parts will not be described again.

[0074] Refer to Figure 3 , this embodiment provides an angle positioning assistance puncture system based on strapdown inertial navigation, including:

[0075] An angle calculation module, configured to obtain a medical image, mark a starting point and a target point on the medical image; calculate the left-right degree value according to the starting point and the target point; judge the calculation formula of the cephalocaudal radian value according to the absolute value of the left-right degree value; calculate the cephalocaudal angle and left-right angle of the puncture according to the left-right degree value and the cephalocaudal radian value;

[0076] A display module, configured to display the cephalocaudal angle and the left-right angle;

[0077] A positioning calibration module, configured to calibrate the puncture needle equipped with the positioning assistance module; start puncturing on the object to be punctured with the calibrated puncture needle, and transmit the path angle of the puncture needle to the display module in real time;

[0078] An auxiliary judgment module is used to judge whether the path angle is consistent with the cephalocaudal angle and the left-right angle; when they are consistent, the puncture is completed, and when they are inconsistent, the path angle of the puncture needle is adjusted.

[0079] This embodiment provides an angle positioning assisted puncture system based on strapdown inertial navigation. The angle calculation module acquires medical images, accurately marks the starting point and the target point on the images, and then calculates the cephalocaudal angle and the left-right angle required for puncture, providing a scientific and accurate navigation basis for the puncture operation. The display module displays these angle information in real time, enabling the doctor to intuitively observe the current position and direction of the puncture needle during the operation, ensuring the accuracy of the puncture path. The positioning and calibration module precisely calibrates the puncture needle equipped with the positioning assist module to ensure that the angle of the puncture needle at the beginning of the operation already meets the preset requirements, reducing the number of adjustments during the puncture process, improving the operation efficiency, and shortening the operation time. The auxiliary judgment module then monitors in real time whether the path angle of the puncture needle is consistent with the preset angle. If not, it promptly prompts the doctor to make adjustments, thereby effectively avoiding the risk of mis-puncture caused by angle deviation and improving the safety of the operation. This design not only improves the accuracy of puncture, but also significantly reduces the operation risk, reduces the pain and discomfort of the patient, and improves the comfort and satisfaction of the patient. At the same time, it also provides strong technical support for the doctor, enhances the doctor's operation confidence in complex or high-risk operations, and reduces the possibility of human error. In addition, the system has good scalability and compatibility, can adapt to various types of medical images, is applicable to various puncture operation scenarios, and has a broad application prospect.

[0080] Specifically, the angle calculation module is connected to the scanning host of the medical imaging device, and the scanning host of the medical imaging device can transmit the images to the angle calculation module. The angle calculation module can be compatible with the scanning hosts of medical imaging devices of different brands and supports image transmission based on the DICOM 3.0 standard. This compatibility ensures that medical images from various devices (such as CT, MRI, X-ray, etc.) can be seamlessly transmitted to the angle calculation module for further image processing, analysis, and diagnosis.

[0081] Specifically, the positioning assistance module at the tail end of the puncture needle integrates inertial measurement elements for real-time measurement of the movement state of the puncture needle, including linear acceleration and angular velocity. These elements typically include a three-axis accelerometer and a three-axis gyroscope. Among them, the three-axis accelerometer is used to measure the linear acceleration of the puncture needle along the three orthogonal directions of X, Y, and Z, while the three-axis gyroscope is used to measure the angular velocity of the puncture needle around the three coordinate axes of X, Y, and Z. Through the data obtained by these sensors, the system can real-time monitor the cephalocaudal and left-right angles of the puncture needle and intuitively display this information on the computer screen to provide precise navigation support for the doctor. In this embodiment, the inertial measurement elements adopt 3 three-axis accelerometers and 3 three-axis gyroscopes. This design can provide redundant data through multiple three-axis accelerometers and multiple three-axis gyroscopes, and can further improve the measurement accuracy and reduce errors through data fusion algorithms (such as Kalman filtering). In addition, this redundant design can also provide backup data when a single sensor fails, enhancing the reliability and robustness of the system, thereby ensuring the continuity and safety of the puncture process.

[0082] Furthermore, the angle positioning assistance puncture system provided in this embodiment further includes a receiving module. The receiving module is connected to the positioning assistance module and is used to receive the path angle of the puncture needle; the receiving module is connected to the display module through a USB interface and is used to transmit the path angle of the puncture needle to the display module.

[0083] Furthermore, the positioning and calibration module includes calibration equipment. This equipment has been installed in the operating room before the operation and has completed precise debugging and calibration with the medical imaging equipment.

[0084] To more clearly illustrate the angle positioning assistance puncture system provided in this embodiment, the following gives exemplary operation steps:

[0085] Step 1: Use a medical imaging device (such as CT, ultrasound, or X-ray) to scan the relevant part of the patient, and send the image to the angle calculation module through the scanning host. This step can ensure the complete and clear transmission of the image, facilitating subsequent path planning.

[0086] Step 2: The doctor analyzes the scanned image on the angle calculation module. The doctor marks the starting point according to the target point, the suitable puncture angle, and the organ occlusion. Plan the puncture path based on the starting point and the target point marked by the doctor, and calculate the required puncture angles, including the cephalocaudal angle and the left-right angle. Among them, the angle calculation module includes professional planning software, and this planning software implements steps S110 to S140 in Embodiment 1.

[0087] Step 3: Connect the receiving module to the computer (in this example, the display module is preferably a computer), and ensure that the device is stably connected and the communication is normal. Check whether the computer software has been correctly installed and started to receive and process the puncture needle positioning data.

[0088] Step 4: The doctor opens the packaging of the puncture needle and checks whether the puncture needle is intact. Subsequently, turn on the switch of the positioning assistance module at the tail end of the puncture needle to ensure that the module works properly.

[0089] Step 5: Insert the puncture needle into the calibration device for calibration operations until the calibration standard in Example 1 is achieved. During the calibration process, ensure that the puncture needle is fixed stably to avoid external interference.

[0090] Step 6: Take out the calibrated puncture needle and perform puncture on the patient's body surface according to the planned path. During the puncture process, observe the angle display on the computer screen in real time to ensure that the angle of the puncture needle is consistent with the angle of the planned path. When the angles are completely matched, continue to advance the puncture needle until the target position (i.e., the target point) is reached.

[0091] Step 7: After the puncture is completed, use a medical imaging device to recheck the puncture site to confirm whether the puncture needle has accurately reached the target position. If there is a deviation, fine-tuning or re-puncture can be performed. After the puncture is completed, turn off the switch of the positioning assistance module, properly handle the puncture needle, and record the relevant data and imaging materials during the puncture process.

[0092] Through Steps 1 to 7, the real-time display of the angle information of the puncture needle in the puncture intervention surgery is realized, enabling the doctor to intuitively observe the current posture and direction of the puncture needle. Through accurate angle positioning and real-time feedback, this method significantly improves the accuracy and safety of the puncture operation, effectively reduces the operation time, reduces the pain and potential risks of the patient, and provides an efficient and reliable solution for the puncture intervention surgery.

[0093] Example 3

[0094] This embodiment provides a surgical robot, including an angle positioning assistance puncture system based on strapdown inertial navigation provided in Example 2.

[0095] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take 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.

[0096] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 means for implementing the functions specified in one or more blocks or multiple blocks.

[0097] 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, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 means for implementing the functions specified in one or more blocks or multiple blocks.

[0098] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operating steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 means for implementing the functions specified in one or more blocks or multiple blocks.

[0099] Obviously, the above embodiments are merely examples for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to exhaustively list all implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. An angle positioning assisted puncture method based on strapdown inertial navigation, characterized in that Comprising: Obtain a medical image, and mark a starting point and a target point on the medical image; Calculate left - right degree values according to the starting point and the target point; Judge the calculation formula of the cephalocaudal radian value according to the absolute value of the left - right degree values; Calculate the cephalocaudal angle and the left - right angle of the puncture according to the left - right degree values and the cephalocaudal radian value; Display the cephalocaudal angle and the left - right angle; Calibrate the puncture needle equipped with a positioning assistance module, perform puncture on the object to be punctured by using the calibrated puncture needle, and display the path angle of the puncture needle in real time; Judge whether the path angle is consistent with the cephalocaudal angle and the left - right angle; When they are consistent, complete the puncture; When they are inconsistent, adjust the path angle of the puncture needle.

2. The angle positioning-assisted puncture method based on strapdown inertial navigation according to claim 1, wherein The steps of calculating the cephalocaudal angle and the left - right angle of the puncture are as follows: Obtain the three - dimensional coordinates of the starting point and the target point respectively, and use the three - dimensional coordinates of the starting point as the reference point to calculate a three - dimensional vector; Calculate the left - right radian value by using the three - dimensional vector, and convert the left - right radian value into left - right degree values; Obtain the absolute value of the left - right degree values, and calculate the cephalocaudal radian value in the cases where the absolute value is greater than a preset degree and not greater than the preset degree by using different formulas; Convert the cephalocaudal radian value into cephalocaudal degree values; Convert the cephalocaudal degree values and the left - right degree values into the form of standard angles to obtain the cephalocaudal angle and the left - right angle.

3. A method for assisting puncture with angle positioning based on strapdown inertial navigation according to claim 1 or 2, characterized in that The calculation formula of the left - right degree values is: Among them, θ LR is the left and right side measurement value, x1 is the X-axis coordinate value of the starting point, y1 is the Y-axis coordinate value of the starting point, x2 is the X-axis coordinate value of the target point, y2 is the Y-axis coordinate value of the target point, and π is the pi.

4. The angle positioning-assisted puncture method based on strapdown inertial navigation according to claim 2, characterized in that, When calculating the cephalocaudal radian value in the cases where the absolute value is greater than a preset degree and not greater than the preset degree by using different formulas, when the absolute value is greater than the preset degree, use the first formula to calculate the cephalocaudal radian value, and the first formula is: When the absolute value is not greater than the preset degree, use the second formula to calculate the cephalocaudal radian value, and the second formula is: Among them, is the head-foot side radian value, x1 is the X-axis coordinate value of the starting point, y1 is the Y-axis coordinate value of the starting point, z1 is the Z-axis coordinate value of the starting point, x2 is the X-axis coordinate value of the target point, y2 is the Y-axis coordinate value of the target point, and z2 is the Z-axis coordinate value of the target point.

5. The angle positioning-assisted puncture method based on strapdown inertial navigation according to claim 2, characterized in that, The method of converting the cephalocaudal degree values and the left - right degree values into the form of standard angles is: Take the absolute value of the left - right degree values and the cephalocaudal degree values; Determine the positive and negative sign of the cephalocaudal degree value through the Z - axis vector in the three - dimensional vector; Determine the positive and negative sign of the left - right degree value through the X - axis vector in the three - dimensional vector.

6. A method for assisting puncture with angle positioning based on strapdown inertial navigation according to claim 1, characterized in that, The standard for calibrating the puncture needle equipped with a positioning assistance module is: Both the cephalocaudal and left - right angles of the puncture needle are displayed within 0.5 degrees.

7. An angle positioning assisted puncture system based on strapdown inertial navigation, characterized in that, Comprising: An angle calculation module, which is used to obtain a medical image and mark a starting point and a target point on the medical image; Calculate left - right degree values according to the starting point and the target point; Judge the calculation formula of the cephalocaudal radian value according to the absolute value of the left - right degree values; Calculate the cephalocaudal angle and the left - right angle of the puncture according to the left - right degree values and the cephalocaudal radian value; A display module, which is used to display the cephalocaudal angle and the left - right angle; A positioning and calibration module, which is used to calibrate the puncture needle equipped with a positioning assistance module; Start puncturing on the object to be punctured by using the calibrated puncture needle, and transmit the path angle of the puncture needle to the display module in real time; An auxiliary judgment module for judging whether the path angle is consistent with the cephalopod side angle and the left and right side angles; when they are consistent, the puncture is completed, and when they are inconsistent, the path angle of the puncture needle is adjusted.

8. A kind of angle positioning assisted puncture system based on strapdown inertial navigation according to claim 7, characterized in that, The positioning auxiliary module includes an inertial measurement element for obtaining the position data of the puncture needle.

9. The angle positioning-assisted puncture system based on strapdown inertial navigation according to claim 7, characterized in that, It further includes a receiving module connected to the positioning auxiliary module for receiving the path angle of the puncture needle; the receiving module is connected to the display module through a USB interface for transmitting the path angle of the puncture needle to the display module.

10. A kind of angle positioning assisted puncture system based on strapdown inertial navigation according to claim 7, characterized in that, The angle calculation module is connected to a medical imaging device, which includes a scanning host, and the medical imaging device sends the medical image to the angle calculation module through the scanning host.

11. A surgical robot, characterized in that, It includes an angle positioning auxiliary puncture system according to any one of claims 7 to 10.

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