Visual auxiliary guiding method and system for ultrasonic out-of-plane puncture

Abstract

The invention relates to the field of medical instruments, in particular to an ultrasonic out-of-plane puncture visual auxiliary guiding method and system, and the method comprises the following steps: obtaining an image, setting a puncture angle, confirming a puncture target spot, confirming a focal length and an ultrasonic frequency, and generating a simulated puncture needle passage; the system comprises a clamping arm, a guiding module, a distance measuring module, a track generating module and an image display module. The puncture target area is arranged on the basis of the ultrasonic volume effect and the ultrasonic slice thickness, the monitoring range of the puncture needle by an ultrasonic image in the puncture process is enlarged, the safety area of puncture operation is relatively enlarged, and the situation that the needle point of the puncture needle is located outside the target point and breaks away from ultrasonic image monitoring is avoided; meanwhile, in the process from the time when the puncture needle enters the skin to the time when the puncture needle punctures the target, the projection point of the puncture needle tip on the central plane is output on the ultrasonic image of the monitor in real time to form a simulated puncture needle passage, and simulation visualization of the advancing track of the puncture needle tip is achieved.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to an ultrasonic out-of-plane puncture visualization auxiliary guidance method and system. Background Art

[0002] Ultrasound intervention refers to the puncture of the target under the guidance of real-time ultrasound images, so as to perform corresponding diagnostic and treatment operations such as pathological biopsy, cyst fluid aspiration, catheter drainage, drug injection and thermal ablation. It has the advantages of low risk, low cost and good clinical treatment effect.

[0003] Currently, the main method of ultrasound-guided puncture is to use an auxiliary puncture frame to achieve ultrasound in-plane or out-of-plane guidance. Ultrasound in-plane guided puncture refers to setting the puncture frame at one end of the long axis of the ultrasound transducer (probe), and using a plane parallel to the long axis of the transducer to advance the puncture needle. The puncture needle is coplanar with the ultrasound plane. In this way, the needle body and needle tip of the puncture needle can be continuously displayed on the ultrasound monitor during the entire process of the puncture needle reaching the target. Therefore, this is a safe and accurate guidance method, but the puncture path is long and it is easy to accidentally injure adjacent tissues.

[0004] However, in scenarios where the anatomical location is narrow or the puncture needle is too long to reach the target, puncture can only be performed using out-of-plane ultrasound-guided puncture that is nearly perpendicular to the long axis of the transducer. Out-of-plane guided puncture means placing the puncture holder at one end of the short axis of the ultrasound transducer near the center point of the ultrasound transducer, and the puncture needle is located outside the ultrasound plane. Compared with in-plane puncture, out-of-plane puncture has a shorter needle insertion path and is less restricted by anatomical structures. However, most of the current out-of-plane puncture frames are designed with a fixed angle and cannot be adjusted to accommodate puncture targets of different depths. In addition, because the ultrasonic section and the puncture needle are in a cross-sectional relationship, the needle insertion path cannot be displayed throughout the out-of-plane puncture. Although the existing technology can determine the point where the puncture path intersects with the ultrasonic center plane (the ultrasonic section formed by the midpoint of the physical thickness of the ultrasonic probe is set as the center plane, and because the position relationship between the ultrasonic probe and the guidance module is fixed, under the condition of a certain angle, the point where the puncture path corresponding to the angle intersects with the center plane can be obtained, which is the puncture target point), that is, the puncture target point, actual ultrasound-guided puncture often requires a certain amount of puncture operation space to be reserved. For example, when using an automatic biopsy gun to obtain samples, the puncture needle needs to be fired about 2 cm away from the target, or radiofrequency ablation surgery requires gradual needle withdrawal and ablation to completely inactivate the tumor. Therefore, providing only one puncture target point will cause part of the above-mentioned surgical operation to be out of ultrasonic image monitoring, which is likely to increase surgical risks. Summary of the Invention

[0005] Based on the above problems, the purpose of the present invention is to provide an ultrasound out-of-plane puncture visualization auxiliary guidance method and system.

[0006] The present invention adopts the following technical solutions:

[0007] The present invention provides an ultrasound out-of-plane puncture visualization-assisted guidance method, the method comprising the following steps:

[0008] Image acquisition, acquiring a real-time ultrasound image of a target object, wherein the target object is a site to be punctured under ultrasound guidance;

[0009] The puncture angle is set to confirm the puncture target. According to the position of the target object in the ultrasound image, the puncture angle is selected using the out-of-plane puncture method. After the puncture angle is determined, the point where the puncture path corresponding to the angle intersects with the ultrasound center plane is obtained, which is the puncture target point. The puncture target point is displayed synchronously with the ultrasound image.

[0010] Confirm the focal length and ultrasonic frequency, adjust the focus of the ultrasound image to the depth of the puncture target point, and obtain a focal length equal to the depth of the puncture target point. Set the input ultrasonic frequency, and according to the formula: ST = cF / fD, the ultrasonic beam thickness at the puncture target point, i.e., the ultrasonic slice thickness, can be calculated. The volume target area is set based on the ultrasonic slice thickness, and the projection of the puncture path passing through the volume target area on the ultrasonic center plane is set as the puncture target area. The puncture target area is displayed synchronously with the ultrasound image to provide the operator with a reference for planning the puncture path.

[0011] Where c is the average speed of ultrasound in human tissue; F is the focal length; f is the ultrasound frequency; D is the probe aperture;

[0012] Generate a simulated puncture needle track, measure the puncture needle insertion distance in real time through the distance measurement module, and transmit it to the puncture needle trajectory generation module by the signal output unit. Then compile and generate the projection point of the puncture needle tip in the central plane from the time it enters the skin to the time it punctures the target. The image display module fits it to the real-time ultrasound image and displays it on the monitor as a real-time simulated puncture needle track.

[0013] The present invention also provides an ultrasound out-of-plane puncture visualization assisted guidance system for implementing the ultrasound out-of-plane puncture visualization assisted guidance method described above, comprising a clamping arm, a guidance module, a distance measurement module, a trajectory generation module, and an image display module;

[0014] The clamping arm is clamped on the ultrasound probe, the guiding module is arranged on one side of the short axis of the ultrasound probe, and the guiding module is connected to the clamping arm;

[0015] A plurality of puncture needle passages are provided on the top of the guide module, and the angles formed between each puncture needle passage and the ultrasonic center plane are different. A card slot is provided on the side wall of the guide module at a position corresponding to each puncture needle passage, and the ranging module is arranged in the card slot. The signal transmission direction of the ranging module is parallel to the puncture needle passage. The signal emitted by the ranging module is irradiated on the baffle and is received by the ranging module after being reflected by the baffle. The baffle is fixed on the puncture needle.

[0016] Preferably, the guide module is fan-shaped, and the puncture needle passages are sequentially arranged on the arc surface at the top of the guide module; and the card slots are fan-shaped and correspondingly arranged on the side walls of the guide module.

[0017] Preferably, the card slot is a wedge-shaped slot, and the ranging module is inserted into the card slot from the top of the card slot.

[0018] Preferably, the ranging module includes a card box, which is inserted into the card slot from the top of the card slot. A limiting plate is provided on the top of the card box. A ranging signal transmitting and receiving component is provided in the card box. The ranging signal generated by the ranging signal transmitting and receiving component passes through the reserved generating hole on the limiting plate and is emitted.

[0019] Preferably, the ranging signal transmitting and receiving component transmits a laser signal, an infrared signal or a microwave pulse signal.

[0020] Preferably, the clamping arm includes a clamping arm A and a clamping arm B, the first end of the clamping arm A is movably connected to the first end of the clamping arm B, and the second end of the clamping arm A is detachably connected to the second end of the clamping arm B through a connecting buckle.

[0021] Compared with the prior art, the present invention has the following beneficial technical effects:

[0022] The present invention utilizes the ultrasonic volume effect and sets a puncture target area based on the thickness of the ultrasonic slice, thereby increasing the monitorable range of the puncture needle by the ultrasonic image during the puncture process, relatively expanding the safe area of the puncture operation, and solving the problem that out-of-plane puncture only provides a puncture target point, which may cause the puncture needle tip to be outside the target point during part of the surgical operation and out of the ultrasonic image monitoring, thereby easily increasing the surgical risk; at the same time, in the process from the puncture needle entering the skin to puncturing the target, the projection point of the puncture needle tip on the central plane is output in real time on the ultrasonic image of the monitor to form a simulated puncture needle track, realizing the simulation and visualization of the puncture needle tip movement trajectory, and solving the problem that the needle insertion path cannot be fully displayed due to the cross-sectional relationship between the ultrasonic section and the puncture needle during out-of-plane puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings.

[0024] Figure 1 This is a flow chart of the ultrasound out-of-plane puncture visualization-assisted guidance method of the present invention;

[0025] Figure 2 A schematic diagram of the puncture needle tract simulated by the projection point of the needle tip on the ultrasonic center plane during the advancement of the puncture needle provided by the present invention;

[0026] Figure 3 A schematic diagram of the present invention providing a projection of a puncture path passing through a volume target region on a central plane as the puncture target region;

[0027] Figure 4 A schematic diagram showing the trajectory of the puncture needle tip, the puncture target point, and the puncture target area provided by the present invention displayed on an ultrasound image;

[0028] Figure 5 This is a schematic structural diagram of the ultrasound out-of-plane puncture visualization auxiliary guidance system of the present invention;

[0029] Figure 6 Schematic diagram of the positional relationship among the clamping arm, the guiding module, the ranging module and the puncture needle of the present invention;

[0030] Figure 7 This is a side structural diagram of a guide module of the present invention;

[0031] Figure 8 Schematic diagram of the structure of the distance measurement module of the present invention;

[0032] Figure 9 This is another side structural diagram of the guide module of the present invention.

[0033] Explanation of the accompanying drawings: 1. Clamping arm; 101. Clamping arm A; 102. Clamping arm B; 103. Connecting buckle; 2. Guide module; 201. Puncture needle passage; 202. Card slot; 3. Ranging module; 301. Card box; 302. Limiting plate; 303. Ranging signal transmitting and receiving component; 4. Ultrasonic probe; 5. Baffle; 6. Puncture needle. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0035] like Figures 1 to 4 As shown, this embodiment discloses an ultrasound out-of-plane puncture visualization-assisted guidance method, characterized in that the method includes the following steps:

[0036] (1) Image acquisition, obtaining a real-time ultrasound image of a target object, wherein the target object is the site where ultrasound-guided puncture is to be performed;

[0037] In the embodiment of the present application, a real-time ultrasound image of the target object is collected to capture the real-time status of the target object, so that the relative position relationship between the target object and the puncture target point and puncture target area is determined more accurately and reliably based on the ultrasound image.

[0038] Optionally, in some embodiments, an ultrasonic transducer is used to acquire real-time ultrasonic images of the target object.

[0039] Optionally, in some embodiments, the target signal is collected by an image and video signal acquisition component, and the target signal is obtained through a connection method such as a serial port, a USB port, a Thunderbolt port, or an HDMI port.

[0040] Optionally, in some embodiments, the target signal is subjected to digital-to-analog conversion (software decoding or hardware decoding) to obtain static and real-time dynamic ultrasound images.

[0041] (2) Setting the puncture angle to confirm the puncture target point. According to the position of the target object in the ultrasound image, the puncture angle is selected by using the out-of-plane puncture method. After the puncture angle is determined, the point where the puncture path corresponding to the angle intersects with the ultrasound center plane can be obtained, which is the puncture target point ( Figure 2 、 3 The puncture target point is displayed on the client terminal synchronous ultrasound image.

[0042] A fixed puncture angle is selected according to the position of the target object in the ultrasound image. For example, if the target object is located in the far field of the ultrasound image, the angle between the puncture needle and the ultrasound center plane is small, and a puncture target point is formed in the far field of the ultrasound image. On the contrary, if the target object is located in the near field of the ultrasound image, the angle between the puncture needle and the ultrasound center plane is large, and a puncture target point is formed in the near field of the ultrasound image.

[0043] The determined puncture angle is determined based on the spatial relationship between the position of the puncture target object and the real-time reference puncture target area, and is determined by the operator after comprehensive calculation based on multiple information such as the specimen volume, the two-dimensional anatomical structure passed by the needle track, etc. The embodiments of this application only provide methods and tools to facilitate the operator to implement the puncture concept.

[0044] (3) Confirm the focal length and ultrasonic frequency, adjust the focus of the ultrasonic image to the depth of the puncture target point, that is, obtain a focal length equal to the depth of the puncture target point; set the input ultrasonic frequency, and according to the formula: ST = cF / fD, the ultrasonic beam thickness at the puncture target point, that is, the ultrasonic slice thickness, can be obtained. The volume target area is set based on the ultrasonic slice thickness, and the projection of the puncture path passing through the volume target area on the ultrasonic center plane is set as the puncture target area ( Figure 3The puncture target area is displayed by the client terminal synchronously with the ultrasound image for the operator to use as a reference for planning the puncture path.

[0045] In the above formula, c is the average speed of ultrasound in human tissue; F is the focal length; f is the ultrasound frequency; and D is the probe aperture.

[0046] It is understandable that only providing one point where the puncture path intersects with the center plane, that is, the puncture target point, is not enough for planning the puncture path in actual work. Ultrasound-guided puncture often requires reserving a certain amount of puncture operation space. For example, when using an automatic biopsy gun to obtain samples, the puncture needle tip needs to be about 2 cm away from the target. Or in radiofrequency ablation surgery, in order to completely inactivate the tumor, the needle needs to be gradually withdrawn and ablated. Therefore, only referring to the puncture target point will cause part of the above-mentioned surgical operation to be out of the ultrasound image monitoring, which is likely to increase the risk of the operation. To solve this problem, the present application sets a puncture target area. The basis for setting the puncture target area is: because the ultrasound beam has a certain thickness, the ultrasound image is not an idealized two-dimensional section, but an ultrasound slice that contains all tissue echo information within the thickness of the beam, which is the "volume effect" of ultrasound. The puncture target area actually utilizes the "volume effect" of ultrasound, reflecting a projection distance on the ultrasound center plane when the puncture path passes through the ultrasound slice. The advantage of performing the puncture operation within the puncture target area is that the ultrasound image within the puncture target area is formed by superimposing the echo information of all tissues in the corresponding ultrasound slice. At this time, the trajectory of the puncture needle tip in the puncture target area is all inside the ultrasound slice. If, after observing the ultrasound image, there are no large blood vessels, nerves and other important tissues that need to be avoided in the puncture target area, it means that the puncture operation within the puncture target area is safe. Therefore, the present invention solves the problem that part of the puncture process is out of ultrasound image monitoring when the puncture path is planned only according to the puncture target point, thereby reducing the surgical risk.

[0047] (4) Generate a simulated puncture needle track, measure the distance of the puncture needle in real time through the distance measurement module, and transmit it to the puncture needle trajectory generation module by the signal output unit. Then compile and generate the projection point of the puncture needle tip in the center plane from the time it enters the skin to the time it punctures the target. The image display module fits it to the real-time ultrasound image and displays it on the monitor as a real-time simulated puncture needle track.

[0048] It is understandable that the needle insertion process changes in real time. The corresponding distance measurement module measures the puncture distance information in real time. The signal processing unit converts the distance information into a corresponding signal, which is transmitted to the puncture needle trajectory generation module by the signal output unit. Then, the projection point of the puncture needle tip on the central plane is compiled and generated. The image display module fits the real-time ultrasound image. At this time, the monitor displays the simulated puncture needle tip trajectory, puncture target point and puncture target area (see Figure 4 ).

[0049] Optionally, in some embodiments, the corresponding wireless signal converted from the distance information in the present application includes a digital coding signal or Bluetooth and WI-FI, etc.

[0050] Optionally, in some embodiments, an ultrasound out-of-plane puncture visualization assisted guidance method is provided in the embodiments of the present application, which can be applied in a terminal, can also be applied in a server, and can also be software running in a terminal or a server. The receiving and compiling module is connected to or built into a client terminal, including but not limited to a personal computer, an ultrasound equipment terminal, a mobile communication terminal, etc., but is not limited thereto. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks (CDNs), and big data and artificial intelligence platforms.

[0051] like Figures 5 to 9 As shown, this embodiment also discloses an ultrasound out-of-plane puncture visualization assisted guidance system for implementing the above-mentioned ultrasound out-of-plane puncture visualization assisted guidance method. The system includes a clamping arm 1, a guidance module 2, a ranging module 3, a trajectory generation module and an image display module.

[0052] The clamping arm 1 is clamped on the ultrasonic probe 4. The clamping arm 1 includes a clamping arm A101 and a clamping arm B102. The first end of the clamping arm A101 is movably connected to the first end of the clamping arm B102, and the second end of the clamping arm A101 is detachably connected to the second end of the clamping arm B102 through a connecting buckle 103.

[0053] The guiding module 2 is arranged on one side of the short axis of the ultrasonic probe 4 , and the guiding module 2 is fixedly connected to the clamping arm B102 in the clamping arm 1 .

[0054] A plurality of puncture needle passages 201 are provided on the top of the guide module 2, and the angles formed between each puncture needle passage 201 and the ultrasonic center plane are different. A card slot 202 is provided on the side wall of the guide module 2 at a position corresponding to each puncture needle passage 201. The ranging module 3 is arranged in the card slot 202. The signal transmission direction of the ranging module 3 is parallel to the puncture needle passage 201. The signal emitted by the ranging module 3 is irradiated on the baffle 5 and is received by the ranging module 3 after being reflected by the baffle 5. The baffle 5 is fixed on the puncture needle 6.

[0055] In this embodiment, the guide module 2 is fan-shaped, and the puncture needle passages 201 are arranged in sequence on the curved surface of the top of the guide module 2; the slots 202 are fan-shaped and correspondingly arranged on the side walls of the guide module 2. In this embodiment, two puncture needle passages 201 are arranged on the guide module 2.

[0056] The puncture needle passage 201 is used in conjunction with the puncture needle 6 to fix the puncture angle. The two puncture needle passages 201 closer and farther from the ultrasound probe 4 are used to guide the puncture of the far-field and near-field targets of the ultrasound image, respectively. That is, the puncture needle passage 201 closer to the ultrasound probe 4 forms a smaller angle with the ultrasound center plane, forming a puncture target point in the far field of the ultrasound image, while the puncture needle passage 201 relatively farther from the ultrasound probe 4 forms a larger angle with the ultrasound center plane, forming a puncture target point in the near field of the ultrasound image.

[0057] In this embodiment, the card slot 202 is a wedge-shaped slot, and the distance measuring module 3 is inserted into the card slot 202 from the top of the card slot 202. Preferably, the distance measuring module 3 is an independent packaging structure, which is detachable from the guiding module 2, which is conducive to separate disinfection.

[0058] like Figure 9 As shown, the distance measuring module 3 includes a card box 301, which is inserted into the card slot 202 from the top of the card slot 202. A limit plate 302 is set on the top of the card box 301, and the limit plate 302 is against the curved surface of the guide module 2. A distance measuring signal transmitting and receiving component 303 is set in the card box 301, wherein the distance measuring signal transmitting and receiving component 303 mainly includes a signal transmitting unit, a signal receiving unit and a signal processing unit. The distance measuring signal generated by the signal transmitting unit passes through the reserved generating hole on the limit plate 302 and is emitted. After being reflected by the baffle 5, it passes through the reserved generating hole on the limit plate 302 again and is received by the signal receiving unit. The signal processing unit converts the distance information into a corresponding signal, which is transmitted to the puncture needle trajectory generation module by the signal output unit. Preferably, an indicator light and a working power button can also be set on the outer surface of the distance measuring module 3.

[0059] The ranging signal transmitting and receiving component 303 transmits a laser signal, an infrared signal, or a microwave pulse signal. In this embodiment, the ranging signal transmitting and receiving component 303 transmits a laser signal. The ranging signal transmitting and receiving component 303 mainly includes a main control circuit board, a laser transmitting and receiving unit, a signal processing unit, and a signal output unit. It transmits and receives laser information, processes laser reflection information, and transmits wireless signals containing distance information to the trajectory generation module and image display module.

[0060] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A method for visually assisting guidance of out-of-plane ultrasound puncture, characterized by: The method comprises the following steps: Image acquisition, acquiring a real-time ultrasound image of a target object, wherein the target object is a site to be punctured under ultrasound guidance; The puncture angle is set to confirm the puncture target. According to the position of the target object in the ultrasound image, the puncture angle is selected using the out-of-plane puncture method. After the puncture angle is determined, the point where the puncture path corresponding to the angle intersects with the ultrasound center plane is obtained, which is the puncture target point. The puncture target point is displayed synchronously with the ultrasound image. Confirm the focal length and ultrasonic frequency, adjust the focus of the ultrasound image to the depth of the puncture target point, and obtain a focal length equal to the depth of the puncture target point. Set the input ultrasonic frequency, and according to the formula: ST = cF / fD, the ultrasonic beam thickness at the puncture target point, i.e., the ultrasonic slice thickness, can be calculated. The volume target area is set based on the ultrasonic slice thickness, and the projection of the puncture path passing through the volume target area on the ultrasonic center plane is set as the puncture target area. The puncture target area is displayed synchronously with the ultrasound image to provide the operator with a reference for planning the puncture path. Where c is the average speed of ultrasound in human tissue; F is the focal length; f is the ultrasound frequency; D is the probe aperture; Generate a simulated puncture needle track, measure the puncture needle insertion distance in real time through the distance measurement module, and transmit it to the puncture needle trajectory generation module by the signal output unit. Then compile and generate the projection point of the puncture needle tip in the central plane from the time it enters the skin to the time it punctures the target. The image display module fits it to the real-time ultrasound image and displays it on the monitor as a real-time simulated puncture needle track.

2. An ultrasound out-of-plane puncture visualization-assisted guidance system, used to implement the ultrasound out-of-plane puncture visualization-assisted guidance method of claim 1, characterized in that: It comprises a clamping arm (1), a guiding module (2), a distance measuring module (3), a trajectory generating module and an image display module; The clamping arm (1) is clamped on the ultrasonic probe (4), the guiding module (2) is arranged on one side of the short axis of the ultrasonic probe (4), and the guiding module (2) is connected to the clamping arm (1); The top of the guide module (2) is provided with a plurality of puncture needle passages (201), and the angles formed between each puncture needle passage (201) and the ultrasonic center plane are different. A card slot (202) is provided on the side wall of the guide module (2) at a position corresponding to each puncture needle passage (201). The ranging module (3) is arranged in the card slot (202). The signal transmission direction of the ranging module (3) is parallel to the puncture needle passage (201). The signal transmitted by the ranging module (3) is irradiated on the baffle (5), reflected by the baffle (5), and received by the ranging module (3). The baffle (5) is fixed on the puncture needle (6).

3. The ultrasound out-of-plane puncture visualization auxiliary guidance system according to claim 2, characterized in that: The guide module (2) is fan-shaped, and each of the puncture needle passages (201) is sequentially arranged on the arc-shaped surface at the top of the guide module (2); each of the card slots (202) is fan-shaped and correspondingly arranged on the side wall of the guide module (2).

4. The ultrasound out-of-plane puncture visualization auxiliary guidance system according to claim 2, characterized in that: The card slot (202) is a wedge-shaped slot, and the distance measurement module (3) is inserted into the card slot (202) from the top of the card slot (202).

5. The ultrasound out-of-plane puncture visualization auxiliary guidance system according to claim 4, characterized in that: The distance measurement module (3) comprises a card box (301), the card box (301) is inserted into the card slot (202) from the top of the card slot (202), a limit plate (302) is provided on the top of the card box (301), a distance measurement signal transmitting and receiving component (303) is provided in the card box (301), and a distance measurement signal generated by the distance measurement signal transmitting and receiving component (303) passes through a reserved generating hole on the limit plate (302) and is then emitted.

6. The ultrasound out-of-plane puncture visualization auxiliary guidance system according to claim 2, characterized in that: The distance measurement signal transmitting and receiving component (303) transmits a laser signal, an infrared signal or a microwave pulse signal.

7. The ultrasound out-of-plane puncture visualization auxiliary guidance system according to claim 1, characterized in that: The clamping arm (1) comprises a clamping arm A (101) and a clamping arm B (102), wherein the first end of the clamping arm A (101) is movably connected to the first end of the clamping arm B (102), and the second end of the clamping arm A (101) is detachably connected to the second end of the clamping arm B (102) via a connecting buckle (103).

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