Ultrasound interventional puncture system

Abstract

The application relates to the technical field of ultrasonic intervention puncture, and discloses an ultrasonic intervention puncture system, which comprises the following steps: demarcating a target blood vessel region on the skin of a patient by using an ultrasonic probe, selecting an initial detection point and obtaining a contact line, collecting the cross-sectional area and the detection depth of the target blood vessel in an ultrasonic image; controlling the horizontal rotation of the ultrasonic probe, collecting the cross-sectional area data under each angle by setting a unit angle and a period, screening out the angle with the minimum cross-sectional area and the corresponding contact line as the selected contact line; generating a broken line graph based on each sampling point, then determining a primary selected line segment, so as to determine the final puncture line segment; finally, obtaining a puncture point, a puncture observation point and a puncture reference point according to the state of the puncture line segment, and monitoring the distance between the needle tip and the target blood vessel in real time during the puncture process, determining the best monitoring position by gradually adjusting the position of the ultrasonic probe, ensuring that the ultrasonic imaging is clear and the deformation of the blood vessel caused by the pressing of the probe is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ultrasound intervention puncture, in particular to an ultrasound intervention puncture system. BACKGROUND

[0002] Ultrasound intervention puncture technology is an important minimally invasive diagnosis and treatment method in modern medicine, and plays a key role in blood vessel access establishment, tissue biopsy and tumor ablation. The core is to accurately reach the target position by real-time ultrasound imaging guided puncture needle.

[0003] The existing ultrasound intervention puncture technology still faces many challenges in actual operation. The current clinically widely used ultrasound guided puncture method mainly relies on the experience of the operator to judge the spatial direction of the blood vessel. In the conventional operation, a single angle ultrasound probe is usually fixed to monitor. This leads to a significant blind area in puncturing the tortuous blood vessels or anatomical variation sites. Especially in deep blood vessel puncture, the contact pressure of the ultrasound probe with the skin is easy to cause the change of the cross-sectional shape of the blood vessel, resulting in the error of the puncture depth judgment. The existing system lacks a quantitative analysis module for the three-dimensional running of the blood vessel. It is difficult to accurately identify the spatial relationship between the blood vessel axis and the skin surface. The traditional puncture path planning is mainly based on the linear estimation of the surface projection, without considering the actual depth distribution characteristics of the blood vessel. This may lead to the deviation of the puncture angle calculation, increasing the risk of penetrating the back wall of the blood vessel or deviating from the target lumen. In addition, the traditional method lacks a quantitative evaluation standard for the anatomical stability of the blood vessel when selecting the puncture path, and it is difficult to select the ideal puncture segment with straight and uniform depth.

[0004] Therefore, the present application proposes a method of first determining the basic running direction of the target blood vessel during puncture, then selecting a straight and uniform depth blood vessel as the puncture position, and selecting the optimal ultrasound observation position closest to the puncture needle entering the blood vessel point and not changing the blood vessel shape due to the pressure of the ultrasound probe during puncture, to ensure the smooth execution of the puncture. SUMMARY

[0005] The present application provides an ultrasound intervention puncture system, which solves the problems mentioned in the background.

[0006] The present application provides the following technical scheme: an ultrasound intervention puncture system, comprising:

[0007] The puncture system comprises:

[0008] An ultrasound detection module comprising an ultrasound probe and an ultrasound image display device, for ultrasound detection of a patient to obtain an ultrasound image;

[0009] A puncture needle for puncturing a patient;

[0010] A cross-sectional area acquisition module is configured to acquire a cross-sectional area of the target blood vessel in the ultrasound image;

[0011] A point marking module is configured to mark the required points on the patient's skin, including an initial detection point, a sampling point, and a position reference point;

[0012] A line marking module is configured to mark the required lines on the patient's skin, including a contact line, a reference line segment, and a preliminary selection line segment;

[0013] A data comparison module is configured to compare the acquired cross-sectional area of the target blood vessel;

[0014] The ultrasound intervention puncture system comprises:

[0015] A blood vessel for ultrasound intervention puncture of a patient is acquired, which is denoted as a target blood vessel;

[0016] An ultrasound probe is used to detect the direction of the target blood vessel;

[0017] According to the direction of the target blood vessel, a puncture line segment for performing puncture is selected;

[0018] During the performance of puncture, the ultrasound probe is used to monitor the state of the needle tip of the puncture needle and the target blood vessel;

[0019] According to the state of the target blood vessel, an optimal monitoring position for the puncture process is acquired;

[0020] The ultrasound probe is adjusted to move to the optimal monitoring position, and the puncture process is monitored until the puncture is completed.

[0021] Optionally, the use of the ultrasound probe to detect the direction of the target blood vessel comprises:

[0022] A region where the target blood vessel is located is marked on the surface of the patient's skin, which is denoted as a detection region;

[0023] An optional point in the detection region is selected as an initial detection point;

[0024] A line segment formed by the contact between the ultrasound probe and the patient's skin is acquired, which is denoted as a contact line;

[0025] S1, the ultrasound probe is moved to the initial detection point, the midpoint of the contact line is made to coincide with the initial detection point, the ultrasound probe is kept perpendicular to the patient's skin, and an ultrasound image is acquired;

[0026] S2, the cross-sectional area of the target blood vessel imaging pattern in the ultrasound image is acquired, which is denoted as an initial cross-sectional area;

[0027] S3, a unit angle for controlling the horizontal rotation of the ultrasound probe is set;

[0028] S4, control the ultrasonic probe to rotate horizontally, and obtain a selected contact line;

[0029] S5, mark a position reference point on the skin of the patient according to the selected contact line;

[0030] S6, obtain a detection depth of the target blood vessel in combination with the selected contact line;

[0031] draw a straight line on the skin surface of the patient, which is perpendicular to the selected contact line and passes through the position reference point, and obtain a part of the straight line in the detection region, which is marked as a reference line segment;

[0032] set a unit point interval;

[0033] set a sampling point on the reference line segment every unit point interval;

[0034] take each sampling point as an initial detection point in turn, and execute steps S1-S6 to obtain the position reference point and the detection depth under each sampling point.

[0035] Optionally, the control of the ultrasonic probe to rotate horizontally is specifically as follows:

[0036] obtain a contact line of the current ultrasonic probe, which is marked as an initial line;

[0037] rotate the ultrasonic probe clockwise, so that the contact line rotates around the initial detection point until the contact line of the ultrasonic probe is perpendicular to the initial line;

[0038] when the contact line of the ultrasonic probe is perpendicular to the initial line, reset the ultrasonic probe so that the contact line of the ultrasonic probe coincides with the initial line;

[0039] rotate the ultrasonic probe counterclockwise, so that the contact line rotates around the initial detection point until the contact line of the ultrasonic probe is perpendicular to the initial line;

[0040] in the process of rotating the ultrasonic probe, when the ultrasonic probe rotates by a unit angle, which is marked as a horizontal rotation period;

[0041] obtain an ultrasonic image in each horizontal rotation period, and obtain a cross-sectional area of the target blood vessel in the ultrasonic image, which is marked as a target cross-sectional area corresponding to the horizontal rotation period;

[0042] obtain the target cross-sectional area in each horizontal rotation period, and compare them;

[0043] select the target cross-sectional area with the smallest area, and compare it with the initial cross-sectional area, select the smallest cross-sectional area therefrom, and mark it as a selected cross-sectional area;

[0044] obtain an ultrasonic image corresponding to the selected cross-sectional area, and obtain a contact line of the ultrasonic probe when the ultrasonic image is collected, which is taken as a selected contact line.

[0045] Optionally, the marking the position reference point on the patient's skin according to the selected contact line comprises:

[0046] acquiring a straight line passing through the selected contact line, and marking the straight line as a moving reference line;

[0047] controlling the ultrasound probe to move along the moving reference line, keeping the contact line on the moving reference line, and observing the position of the target blood vessel in the real-time displayed ultrasound image;

[0048] stopping the movement of the ultrasound probe when the target blood vessel is on the vertical midline of the ultrasound image;

[0049] acquiring the midpoint of the current contact line of the ultrasound probe, and marking the midpoint as the position reference point.

[0050] Optionally, the acquiring the detection depth of the target blood vessel in combination with the selected contact line comprises:

[0051] making the midpoint of the contact line of the ultrasound probe coincide with the position reference point;

[0052] acquiring the distance between the target blood vessel and the skin surface in the current ultrasound image as the detection depth of the target blood vessel.

[0053] Optionally, the selecting the position for performing the puncture according to the direction of the target blood vessel comprises:

[0054] acquiring the position reference point of each sampling point;

[0055] connecting each position reference point in sequence to form a polygonal line, acquiring the longest line segment in the polygonal line, and marking the longest line segment as a preliminary selected line segment;

[0056] acquiring the sampling points passed by the preliminary selected line segment, and marking the sampling points as preliminary selected points;

[0057] acquiring the detection depth corresponding to each preliminary selected point as a preliminary selected depth;

[0058] setting a detection depth deviation threshold;

[0059] acquiring all preliminary selected point combinations that exist continuously on the preliminary selected line segment and whose preliminary selected depths do not exceed the detection depth deviation threshold;

[0060] respectively comparing the number of preliminary selected points existing in each preliminary selected point combination, selecting the preliminary selected point combination with the largest number as a selected combination;

[0061] connecting the preliminary selected points in the selected combination, and marking the position of the connecting line as a puncture line segment for performing the puncture.

[0062] Optionally, the obtaining of the optimal monitoring position for the puncture process according to the state of the target blood vessel comprises:

[0063] obtaining two end points of the puncture line segment, taking one of the end points as the puncture point and the other end point as the puncture observation point;

[0064] obtaining the midpoint of the puncture line segment as the puncture reference point;

[0065] adjusting the puncture angle of the puncture needle at the puncture point to incline downward toward the puncture reference point to puncture the patient;

[0066] controlling the puncture direction of the puncture needle to keep the projection line segment of the puncture needle on the skin of the patient in a straight line with the puncture line segment during the puncture process;

[0067] controlling the ultrasonic probe to observe the position of the needle tip of the puncture needle at the puncture observation point;

[0068] controlling the puncture needle to gradually penetrate into the patient's body and adjusting the inclination angle of the ultrasonic probe so that the displayed ultrasonic image always displays the needle tip of the puncture needle;

[0069] setting an adjustment interval;

[0070] monitoring the interval between the puncture needle and the target blood vessel in the ultrasonic image during the puncture process, and stopping the puncture and adjusting the monitoring position when the interval is less than or equal to the adjustment interval.

[0071] Optionally, the adjusting of the monitoring position comprises:

[0072] setting a unit movement distance;

[0073] controlling the ultrasonic probe to gradually move along the puncture line segment toward the puncture reference point, and the distance of each movement being equal to the unit movement distance, until the distance between the ultrasonic probe and the puncture point is less than or equal to the unit movement distance;

[0074] each movement of the ultrasonic probe is recorded as a movement cycle;

[0075] in each movement cycle:

[0076] adjusting the inclination angle of the ultrasonic probe to obtain the ultrasonic image of the needle tip of the puncture needle, and obtaining the interval between the needle tip of the puncture needle and the target blood vessel in the ultrasonic image, recorded as the needle tube interval of the movement cycle, denoted as L;

[0077] obtaining the inclination angle of the ultrasonic probe at the current time, recorded as the ultrasonic angle of the movement cycle, denoted as A;

[0078] calculating sinA×L, and recording the result as the vertical interval of the movement cycle;

[0079] a minimum deviation threshold of the vertical distance is set, denoted as a minimum threshold;

[0080] When each mobile period is added, the vertical distance of the mobile period is obtained, the vertical distance is compared with the vertical distance of the last mobile period, and the difference between the two is obtained, if there is no last mobile period, no comparison is made, and the next mobile period is continued;

[0081] If the difference is less than or equal to the minimum threshold, the ultrasonic probe is continuously controlled to move in the direction of the puncture reference point;

[0082] If the difference is greater than the minimum threshold, the ultrasonic probe is controlled to stop moving, the position of the ultrasonic probe in the last mobile period is obtained, and the position is taken as the best monitoring position, if the current mobile period is the first mobile period, the puncture observation point is taken as the best monitoring position;

[0083] When the ultrasonic probe moves to a distance less than or equal to the unit moving distance from the puncture point, the current position of the ultrasonic probe is taken as the best monitoring position.

[0084] The present application has the following beneficial effects:

[0085] 1、By pre-marking the region where the target blood vessel is located on the surface of the patient's skin to form a clear detection region, so that the subsequent detection of the blood vessel direction has accuracy and pertinence; by selecting a point in the detection region as the initial detection point, the position of the ultrasonic probe when it first contacts the tissue can be ensured to be within the target blood vessel region, thereby reducing invalid detection; using the line segment formed by the contact between the ultrasonic probe and the patient's skin as the contact line, an objective geometric reference is provided for subsequent adjustment of the detection angle and movement position; in S1 step, the ultrasonic probe is moved to the initial detection point, the midpoint of the contact line is overlapped with the initial detection point, and the probe is kept perpendicular to the skin, which not only ensures the acquisition of high-quality ultrasonic images, but also ensures the accurate collection of the initial cross-sectional area; in S2 step, the cross-sectional area of the target blood vessel in the ultrasonic image is obtained, which provides basic data for subsequent comparison and creates conditions for further judgment of the stable region of the blood vessel and the optimal puncture angle; the unit angle of the ultrasonic probe in S3 step is set to control the horizontal rotation, so that the detection process has a standardized and quantitative basis, thereby improving the accuracy of subsequent data collection; in S4 step, the ultrasonic probe is controlled to rotate horizontally and the selected contact line is obtained, forming a comparison mechanism of blood vessel image data at different angles, which provides a basis for selecting the optimal detection angle; in S5 step, the position reference point is marked on the patient's skin, so that the positioning in the subsequent puncture operation has continuity and accuracy; in S6 step, the detection depth of the target blood vessel is obtained by combining the selected contact line, which further determines the three-dimensional position information of the blood vessel in the body, thereby providing accurate data support for the planning of the puncture path; a straight line perpendicular to the selected contact line is made on the surface of the patient's skin, and the part of the line segment within the detection region is obtained as the reference line segment, which ensures that the distribution of the sampling points can cover the entire target region; then by setting the unit sampling interval and setting the sampling points on the reference line segment, and taking each sampling point as the initial detection point in turn to execute S1 to S6 steps, the continuous and uniform sampling of the target blood vessel at different positions is realized, which provides rich data support for mastering the blood vessel direction and depth distribution in all directions and systematically, and finally helps to screen out a puncture target segment with consistent depth and stable direction, significantly improving the safety and accuracy of the ultrasonic intervention puncture process.

[0086] 2、By designing the specific steps of horizontal rotation of the ultrasound probe, the continuous acquisition of the target blood vessel cross-sectional area at multiple angles is realized, thereby ensuring the comprehensiveness and objectivity of data acquisition; first, by acquiring the contact line of the current ultrasound probe and recording it as the initial line, a stable reference benchmark is provided for the subsequent rotation process, realizing the standardization of the initial state; then, rotate the ultrasound probe clockwise so that the contact line rotates around the initial detection point until it is perpendicular to the initial line, this step effectively utilizes the geometric angle change to stimulate the blood vessel to show different angles in the ultrasound image, which is convenient for subsequent comparison and screening; during the rotation process, when the ultrasound probe contact line is perpendicular to the initial line, the probe is reset to restore the original state, which not only ensures the symmetry of the rotation operation, but also ensures the consistency of the collected data; then rotate the ultrasound probe counterclockwise, which also makes the contact line rotate around the initial detection point until it is perpendicular, forming a complete rotation cycle, thereby realizing the multi-angle acquisition of the target blood vessel cross-sectional area through clockwise and counterclockwise rotation; each rotation unit angle is regarded as a horizontal rotation period, and the ultrasound image is acquired and the target blood vessel cross-sectional area is recorded in each period, so that the continuous and periodical acquisition method can finely capture the small differences in blood vessel morphology and realize high-precision comparison of data; by comparing the target cross-sectional area collected in each horizontal rotation period, the image with the smallest area is selected, which helps to determine the basic direction of the target blood vessel, thereby establishing a data foundation for subsequent determination of the position reference point.

[0087] 3、By using a straight line perpendicular to the selected contact line on the surface of the patient's skin and acquiring a part of the line segment within the detection area as a reference line segment, the method ensures that the distribution of sampling points can cover the entire target area; then by setting a unit point interval and setting sampling points on the reference line segment, and taking each sampling point as the initial detection point in turn to execute steps S1 to S6, the continuous and uniform sampling of the target blood vessel at different positions is realized, which provides rich data support for comprehensively and systematically mastering the blood vessel direction and depth distribution, and ultimately helps to select a puncture target segment with consistent depth and stable direction, significantly improving the safety and accuracy in the process of ultrasound intervention puncture.

[0088] 4. By acquiring a straight line through the selected contact line to form a moving reference line, the ultrasound probe maintains the same direction as the contact line during movement, ensuring consistent image information acquisition. Simultaneously, the target vessel position in the ultrasound image is observed in real time. By comparing whether the target vessel is located on the vertical midline of the image, the optimal marking position is determined, achieving accurate acquisition of the positional reference point. Then, by using the midpoint of the ultrasound probe contact line as the positional reference point, the needle tip position, angle, and detection depth during subsequent puncture procedures remain consistent with this known accurate reference, ensuring the continuity and stability of data measurement. When combining the selected contact line to obtain the target vessel detection depth, by aligning the midpoint of the ultrasound probe contact line with the previously marked positional reference point, the distance between the target vessel and the skin surface in the ultrasound image is further accurately acquired, resulting in an accurate detection depth. This method not only optimizes puncture path planning but also provides clinicians with an intuitive and reliable auxiliary decision-making basis through data closure, effectively reducing the risk of vessel deviation caused by local tissue errors or probe movement errors during operation, thereby greatly improving the safety and success rate of puncture procedures.

[0089] 5. By sequentially acquiring the location reference points of each sampling point and connecting them to form a line graph, a comprehensive understanding of the target blood vessel's trajectory is achieved. The longest line segment in the line graph is used as the initial selection segment to reflect the main extension direction of the blood vessel, thus providing an intuitive geometric basis for the selection of subsequent puncture paths. After acquiring the sampling points along the initial selection segment and recording their corresponding detection depths, a detection depth deviation threshold is set to filter out initial point combinations that are continuously present on the initial selection segment and whose depth errors are within the allowable range. This method can accurately eliminate depth data deviations caused by local tissue differences or image noise, thereby ensuring the stability and continuity of data acquisition. Subsequently, the differences in depth data within each initial point combination are compared. The process involves selecting the initial number of puncture points and choosing the combination with the most initial points as the final selection combination. This process achieves optimal coverage of the puncture area and ensures the most uniform and stable changes in the depth of the blood vessels within the selected area, thus laying a data foundation for precise positioning of the puncture needle. Finally, the initial points in the selection combination are connected sequentially to form a puncture line segment, which serves as the actual puncture location. This method not only improves the accuracy and continuity of the puncture path but also reduces the risk of puncture deviation caused by complex blood vessel orientation or excessive local depth differences. As a result, the target blood vessel area can be more accurately located during the puncture process, and the trauma caused to the patient by repeated puncture operations is reduced, ensuring the safety and success rate of interventional puncture operations.

[0090] 6、By obtaining the two end points of the puncture line segment, the puncture point and the puncture observation point are accurately divided, thereby laying a geometric foundation for the selection of the monitoring position in the puncture process; after obtaining the midpoint of the puncture line segment as a puncture reference point, the puncture direction and angle of the puncture needle can be adjusted based on the reference point, so that the puncture needle always tilts downward toward the puncture reference point, thereby ensuring that the puncture angle meets the expected requirements and ensuring the accuracy of the puncture needle entering the target blood vessel region; by controlling the puncture direction of the puncture needle, the projection line segment of the puncture needle on the patient's skin is kept on the same straight line as the puncture line segment, thereby realizing the consistency of the direction of each operation node and the continuity of positioning in the puncture process; by using the ultrasonic probe to monitor the needle tip of the puncture needle at the puncture observation point in real time, the position information of the needle tip can be captured in time, thereby providing immediate feedback for possible deviations during the operation; during the process of the puncture needle gradually penetrating into the patient's body, the tilt angle of the ultrasonic probe is continuously adjusted to ensure that the displayed ultrasonic image can always clearly capture the needle tip of the puncture needle, providing continuous image support for the doctor; and the adjustment interval is set to realize real-time monitoring of the distance between the puncture needle and the target blood vessel, and when the distance is less than or equal to the adjustment interval, the puncture operation can be stopped immediately and the monitoring position can be adjusted, thereby ensuring that the distance between the puncture needle and the target blood vessel is close enough to facilitate the determination of the optimal monitoring position according to the distance relationship between the two.

[0091] 7、By controlling the ultrasonic probe to move along the puncture line segment to the puncture reference point, fine adjustment of the monitoring position is realized; by setting a unit movement distance, each movement forms a clear movement period, so that the distance between the needle tip of the puncture needle and the target blood vessel and the current tilt angle of the ultrasonic probe are obtained in each period, and the corresponding perpendicular distance is calculated, thereby providing accurate basis for judging whether the target blood vessel is deformed due to the ultrasonic probe; when the difference between the perpendicular distances calculated in each movement period is continuously compared, if the difference between the new period and the last period exceeds the set minimum threshold, the movement is stopped in time, thereby locking the position of the ultrasonic probe in the last period as the optimal monitoring position; this optimal monitoring position is close enough to the position where the needle tip of the puncture needle enters the target blood vessel, which can effectively ensure that the ultrasonic imaging is clear and the target blood vessel is not deformed due to the downward pressing of the ultrasonic probe on the skin, avoid affecting the subsequent puncture needle entering the target blood vessel, and ensure that the ultrasonic image can clearly show the process of the subsequent puncture needle entering the target blood vessel; during the whole process, a closed-loop control system is formed by dynamic adjustment and continuous data acquisition, thereby realizing automatic determination of the optimal monitoring position, thereby effectively reducing the risk in the puncture process and improving the safety and success rate of the puncture operation under the premise of ensuring real-time visibility of the puncture needle; BRIEF DESCRIPTION OF DRAWINGS

[0092] Figure 1 The puncture line segment of the present application is shown in the figure.

[0093] Figure 2 Puncture needle state diagram for the present application.

[0094] Figure 3 Vertical spacing diagram for the present application. DETAILED DESCRIPTION

[0095] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0096] Embodiment, an ultrasonic intervention puncture system, comprising:

[0097] The puncture system comprises:

[0098] An ultrasonic detection module: comprising an ultrasonic probe and an ultrasonic image display device, for detecting a patient by ultrasonic waves, and acquiring an ultrasonic image;

[0099] A puncture needle: for puncturing a patient;

[0100] A cross-sectional area acquisition module: for acquiring the cross-sectional area of a target blood vessel collected in the image according to the ultrasonic image;

[0101] A point marking module: for marking the required points on the patient's skin, including: an initial detection point, a sampling point, and a position reference point;

[0102] A line marking module: for marking the required lines on the patient's skin, including: a contact line, a reference line segment, and a preliminary selection line segment;

[0103] A data comparison module: for comparing the acquired cross-sectional area of the target blood vessel;

[0104] The ultrasonic intervention puncture system comprises:

[0105] Acquire a blood vessel for ultrasonic intervention puncture of a patient, denoted as a target blood vessel;

[0106] Detect the direction of the target blood vessel using an ultrasonic probe;

[0107] According to the direction of the target blood vessel, select a puncture line segment for performing puncture;

[0108] In the process of performing puncture, monitor the state of the needle tip of the puncture needle and the target blood vessel using the ultrasonic probe;

[0109] According to the state of the target blood vessel, acquire the best monitoring position for the puncture process;

[0110] Adjusting the ultrasound probe to move to the optimal monitoring position, monitoring the puncture process until the puncture is completed.

[0111] The use of the ultrasound probe to detect the target blood vessel includes:

[0112] Marking the area where the target blood vessel is located on the surface of the patient's skin as the detection area; by marking the area where the target blood vessel is located on the surface of the patient's skin in advance to form a clear detection area, the subsequent detection of the blood vessel direction has accuracy and pertinence;

[0113] Optionally, a point in the detection area is used as an initial detection point; by using an optional point in the detection area as an initial detection point, it can be ensured that the position of the ultrasound probe when it first contacts the tissue is within the target blood vessel area, thereby reducing invalid detection;

[0114] Obtaining a line segment formed by the contact between the ultrasound probe and the patient's skin, which is referred to as the contact line; using the line segment formed by the contact between the ultrasound probe and the patient's skin as the contact line provides an objective geometric reference for subsequent adjustment of the detection angle and movement position;

[0115] S1, move the ultrasound probe to the initial detection point, make the midpoint of the contact line coincide with the initial detection point, keep the ultrasound probe perpendicular to the patient's skin, and obtain an ultrasound image; not only can it ensure that a high-quality ultrasound image is obtained, but also can ensure the accurate collection of the initial cross-sectional area;

[0116] S2, obtain the cross-sectional area of the target blood vessel imaging pattern in the ultrasound image, which is referred to as the initial cross-sectional area; by obtaining the cross-sectional area of the target blood vessel in the ultrasound image, it provides basic data for subsequent comparison and creates conditions for further judgment of the stable region of the blood vessel and the optimal puncture angle;

[0117] S3, set a unit angle for controlling the horizontal rotation of the ultrasound probe; setting a unit angle for controlling the horizontal rotation of the ultrasound probe makes the detection process have a standardized and quantitative basis, thereby improving the accuracy of subsequent data collection;

[0118] S4, control the ultrasound probe to rotate horizontally and obtain a selected contact line; by controlling the ultrasound probe to rotate horizontally and obtaining a selected contact line, a comparison mechanism of blood vessel image data at different angles is formed, which provides a basis for selecting the optimal detection angle;

[0119] S5, according to the selected contact line, mark a position reference point on the patient's skin; marking a position reference point on the patient's skin makes the positioning in the subsequent puncture operation have continuity and accuracy;

[0120] S6, in combination with the selection contact line, the detection depth of the target blood vessel is obtained; in combination with the selection contact line, the three-dimensional position information of the blood vessel in the body is further determined, so as to provide accurate data support for the planning of the puncture path;

[0121] A straight line perpendicular to the selection contact line and passing through the position reference point is made on the surface of the skin of the patient, and a part of the line segment in the detection region is obtained, which is recorded as a reference line segment; the selection contact line is horizontally rotated to obtain a line segment perpendicular to the target blood vessel below the contact line at the current position, and the position reference point is the position of the target blood vessel on the current contact line; a straight line perpendicular to the selection contact line and passing through the position reference point is made, if the trend of the target blood vessel approaches the straight line, the straight line can preliminarily estimate the possible trend of the target blood vessel according to the current first collected data, and the reference line segment and the sampling points set according to the straight line have a greater probability of being above the target blood vessel, so as to facilitate subsequent ultrasonic detection and reduce invalid detection in the subsequent ultrasonic detection process.

[0122] A unit point interval is set.

[0123] A sampling point is set on the reference line segment every unit point interval.

[0124] Each sampling point is sequentially taken as an initial detection point, and steps S1-S6 are executed to obtain the position reference point and the detection depth under each sampling point. By making a straight line perpendicular to the selection contact line on the surface of the skin of the patient and obtaining a part of the line segment in the detection region as a reference line segment, the method ensures that the distribution of the sampling points can cover the entire target region; by setting a unit point interval and setting sampling points on the reference line segment, and sequentially taking each sampling point as an initial detection point to execute steps S1-S6, continuous and uniform sampling of the target blood vessel at different positions is realized, which provides rich data support for comprehensively and systematically grasping the trend and depth distribution of the blood vessel, and finally helps to screen out a puncture target segment with consistent depth and stable trend, thereby significantly improving the safety and accuracy in the ultrasonic intervention puncture process.

[0125] The control ultrasonic probe to horizontally rotate, specifically:

[0126] The contact line of the current ultrasonic probe is obtained, which is recorded as an initial line;

[0127] The ultrasonic probe is rotated clockwise, so that the contact line rotates around the initial detection point until the contact line of the ultrasonic probe is perpendicular to the initial line;

[0128] When the contact line of the ultrasonic probe is perpendicular to the initial line, the ultrasonic probe is reset so that the contact line of the ultrasonic probe coincides with the initial line;

[0129] clockwise rotation of the ultrasonic probe, the contact line rotates around the initial detection point until the contact line of the ultrasonic probe is perpendicular to the initial line;

[0130] During the rotation of the ultrasonic probe, when the ultrasonic probe rotates by one unit angle, it is recorded as one horizontal rotation period;

[0131] An ultrasonic image is acquired in each horizontal rotation period, and the cross-sectional area of the target blood vessel in the ultrasonic image is acquired and marked as the target cross-sectional area corresponding to the horizontal rotation period;

[0132] The target cross-sectional area of each horizontal rotation period is acquired and compared;

[0133] The smallest target cross-sectional area is screened and compared with the initial cross-sectional area, and the smallest cross-sectional area is selected, which is recorded as the selected cross-sectional area;

[0134] The ultrasonic image corresponding to the selected cross-sectional area is acquired, and the contact line of the ultrasonic probe when the ultrasonic image is acquired is acquired and taken as the selected contact line. By designing the specific steps of horizontal rotation of the ultrasonic probe, continuous acquisition of the cross-sectional area of the target blood vessel at multiple angles is realized, thereby ensuring the comprehensiveness and objectivity of data acquisition. First, the contact line of the current ultrasonic probe is acquired and recorded as the initial line, providing a stable reference for the subsequent rotation process and realizing the standardization of the initial state. Subsequently, the ultrasonic probe is rotated clockwise so that the contact line rotates around the initial detection point until it is perpendicular to the initial line. This step effectively utilizes the change in geometric angle to stimulate the performance of the blood vessel at different angles in the ultrasonic image, facilitating subsequent comparison and screening. During the rotation process, the probe is reset when the contact line of the ultrasonic probe is perpendicular to the initial line to restore the original state, which not only ensures the symmetry of the rotation operation, but also ensures the consistency of the collected data. Subsequently, the ultrasonic probe is rotated counterclockwise so that the contact line rotates around the initial detection point until it is perpendicular, forming a complete rotation period. Thus, through clockwise and counterclockwise rotation, multi-angle acquisition of the cross-sectional area of the target blood vessel is realized. Each rotation by one unit angle is taken as one horizontal rotation period, and an ultrasonic image is acquired in each period and the cross-sectional area of the target blood vessel is recorded. This continuous and periodical acquisition method can finely capture the small differences in blood vessel morphology and realize high-precision comparison of data. By comparing the target cross-sectional areas collected in each horizontal rotation period, the image with the smallest area is screened out, which helps to determine the basic direction of the target blood vessel and thereby establishes a data basis for subsequent determination of the position reference point.

[0135] The marking of the position reference point on the skin of the patient according to the selected contact line comprises:

[0136] A straight line passing through the selected contact line is acquired and recorded as a moving reference line;

[0137] controlling the ultrasound probe to move along the moving reference line, keeping the contact line on the moving reference line, and observing the position of the target blood vessel in the real-time displayed ultrasound image;

[0138] stopping the movement of the ultrasound probe when the target blood vessel is on the vertical midline of the ultrasound image;

[0139] acquiring a midpoint of the current ultrasound probe contact line, and taking the midpoint as a position reference point.

[0140] the combination selection contact line, and acquiring a detection depth of the target blood vessel, comprises:

[0141] aligning the midpoint of the ultrasound probe contact line with the position reference point;

[0142] acquiring a distance between the target blood vessel and the skin surface in the current ultrasound image as the detection depth of the target blood vessel. By acquiring a straight line passing through the selected contact line to form a moving reference line, the ultrasound probe always keeps the same direction as the contact line during the movement, ensuring the consistency of image information acquisition; at the same time, the position of the target blood vessel in the ultrasound image is observed in real time, and the best marking position is determined by comparing whether the target blood vessel is on the vertical midline of the image, so that the position reference point is accurately acquired; then, by taking the midpoint of the ultrasound probe contact line as the marker of the position reference point, the position and angle of the needle tip and the detection depth in the subsequent puncture process can be consistent with the known accurate reference, ensuring the continuity and stability of data measurement; when the detection depth of the target blood vessel is acquired in combination with the selected contact line, the distance between the target blood vessel and the skin surface in the ultrasound image is further accurately acquired by aligning the midpoint of the ultrasound probe contact line with the previously marked position reference point, so that the accurate detection depth is obtained; this method not only optimizes the puncture path planning, but also provides a intuitive and reliable auxiliary decision-making basis for clinicians through data closed loop, effectively reduces the risk of blood vessel deviation caused by local tissue error or probe movement error in the operation process, and greatly improves the safety and success rate of puncture operation.

[0143] the position for performing puncture is selected according to the direction of the target blood vessel, comprising:

[0144] acquiring a position reference point of each sampling point;

[0145] connecting each position reference point in turn to form a polyline, acquiring the longest line segment in the polyline, and marking it as a primary selected line segment;

[0146] acquiring a sampling point passed by the primary selected line segment, and marking it as a primary selected point;

[0147] acquiring a detection depth corresponding to each primary selected point, and marking it as a primary selected depth;

[0148] a detection depth deviation threshold is set; the depth deviation threshold is used to determine whether the depth of the target blood vessel is close to consistent;

[0149] all primary point combinations that exist continuously on the primary line segment and whose primary depths do not exceed the detection depth deviation threshold are obtained;

[0150] the number of primary points existing in each primary point combination is compared respectively, and the primary point combination with the largest number is selected as the selected combination;

[0151] The primary point combination and the selected combination are specifically: assuming that the current detection depth deviation threshold is set to 1, there are 7 primary points, which are No. 1 point, No. 2 point, No. 3 point, No. 4 point, No. 5 point, No. 6 point and No. 7 point; wherein the primary depth of No. 1 point is 6, the primary depth of No. 2 point is 7, the primary depth of No. 3 point is 6, the primary depth of No. 4 point is 4, the primary depth of No. 5 point is 9, the primary depth of No. 6 point is 7, and the primary depth of No. 7 point is 6; all primary point combinations that exist continuously on the primary line segment and whose primary depths do not exceed the detection depth deviation threshold are (No. 1 point, No. 2 point, No. 3 point), (No. 4 point), (No. 5 point), (No. 6 point, No. 7 point); wherein the primary point combination with the largest number of primary points is (No. 1 point, No. 2 point, No. 3 point), which is the selected combination;

[0152] The initial selection points in the selection combination are connected, and the position of the connecting line is taken as a puncture line segment for performing puncture. By sequentially obtaining the position reference points of each sampling point and connecting them sequentially to form a polyline graph, the overall grasp of the target blood vessel direction is realized. By using the longest line segment in the polyline graph as the initial selection line segment to reflect the main extension direction of the blood vessel, an intuitive geometric basis is provided for the selection of the subsequent puncture path. After obtaining the sampling points through which the initial selection line segment passes and recording the corresponding detection depths, the initial selection point combination that continuously exists on the initial selection line segment and has a depth error within the allowable range can be screened out by setting a detection depth deviation threshold. This method can accurately eliminate the depth data deviation caused by local tissue differences or image noise, thereby ensuring the stability and continuity of data acquisition. Subsequently, the number of initial selection points in each initial selection point combination is compared, and the initial selection point combination with the largest number is selected as the final selection combination. This process realizes the optimal coverage of the puncture region and ensures that the depth change of the blood vessel in the selection region is the most uniform and stable, thereby laying a data foundation for the accurate positioning of the puncture needle. Finally, the initial selection points in the selection combination are connected in sequence to form a puncture line segment, which is taken as the position for actually performing puncture. This method not only improves the accuracy and continuity of the puncture path, but also reduces the risk of puncture deviation caused by complex blood vessel direction or excessive local depth difference, thereby more accurately locking the target blood vessel region during the puncture process and reducing the trauma caused to the patient by repeated puncture operations, thereby ensuring the safety and success rate of the interventional puncture operation.

[0153] The method further comprises the following steps:

[0154] The two end points of the puncture line segment are obtained, one of which is taken as a puncture point, and the other is taken as a puncture observation point.

[0155] The midpoint of the puncture line segment is obtained as a puncture reference point.

[0156] Referring to the puncture reference point, Figure 1 The puncture needle is used at the puncture point to adjust the puncture angle of the puncture needle to tilt downward in the direction of the puncture reference point to puncture the patient.

[0157] Referring to the puncture reference point, Figure 2 During the puncture process, the puncture direction of the puncture needle is controlled to keep the projection line segment of the puncture needle on the patient's skin in a straight line with the puncture line segment.

[0158] The ultrasound probe is controlled at the puncture observation point to observe the position of the needle tip of the puncture needle.

[0159] The puncture needle is gradually deepened into the patient's body, and the inclination angle of the ultrasound probe is adjusted so that the displayed ultrasound image always displays the needle tip of the puncture needle.

[0160] An adjustment interval is set, which is used to define a node at which the puncture needle stops puncturing and the monitoring position is adjusted, wherein the adjustment interval is set to be small enough to ensure that the puncture needle does not enter the target blood vessel when the monitoring position is adjusted subsequently, but the distance between the puncture needle and the target blood vessel is small enough to avoid that the puncture needle tip cannot be collected in the ultrasound image when the puncture continues after the optimal monitoring position is determined subsequently;

[0161] During the puncture process, the distance between the puncture needle and the target blood vessel in the ultrasound image is monitored, and when the distance is less than or equal to the adjustment interval, the puncture is stopped and the monitoring position is adjusted. By obtaining the two end points of the puncture line segment, the puncture point and the puncture observation point are accurately divided, thereby laying a geometric foundation for the selection of the monitoring position during the puncture process. After obtaining the midpoint of the puncture line segment as a puncture reference point, the puncture direction and angle of the puncture needle can be adjusted based on the reference point, so that the puncture needle is always inclined downward toward the puncture reference point, thereby ensuring that the puncture angle meets the expected requirements and ensuring the accuracy of the puncture needle entering the target blood vessel region. By controlling the puncture direction of the puncture needle, the projection line segment of the puncture needle on the patient's skin is kept on the same straight line as the puncture line segment, thereby realizing the consistency of the direction of each operation node and the continuity of the positioning during the puncture process. By using the ultrasound probe to monitor the puncture needle tip in real time at the puncture observation point, the position information of the needle tip can be captured in time, thereby providing immediate feedback for possible deviations during the operation. During the process of the puncture needle gradually penetrating into the patient's body, the inclination angle of the ultrasound probe is continuously adjusted to ensure that the displayed ultrasound image can always clearly capture the puncture needle tip, thereby providing continuous image support for the doctor. The adjustment interval is set to monitor the distance between the puncture needle and the target blood vessel in real time, and when the distance is less than or equal to the adjustment interval, the puncture operation is stopped immediately and the monitoring position is adjusted, thereby ensuring that the distance between the puncture needle and the target blood vessel is close enough to facilitate the determination of the optimal monitoring position based on the distance relationship between the two.

[0162] The monitoring position adjustment includes:

[0163] A unit movement distance is set;

[0164] The ultrasound probe is controlled to move gradually along the puncture line segment toward the direction of the puncture reference point, and the distance of each movement is equal to the unit movement distance, until the distance between the ultrasound probe and the puncture point is less than or equal to the unit movement distance;

[0165] Each movement of the ultrasound probe is recorded as a movement period;

[0166] In each movement period:

[0167] Reference Figure 3adjusting the tilt angle of the ultrasound probe, obtaining the ultrasound image of the needle tip of the puncture needle, and obtaining the distance between the needle tip of the puncture needle and the target blood vessel in the ultrasound image, denoted as the needle tube distance of the movement cycle, denoted as L;

[0168] obtaining the tilt angle of the current ultrasound probe, denoted as the ultrasound angle of the movement cycle, denoted as A;

[0169] calculating sinA x L, and denoting the result as the vertical distance of the movement cycle;

[0170] setting a minimum deviation threshold value of the vertical distance, denoted as a minimum threshold value; the minimum threshold value is used to determine whether the vertical distance is equal within the allowable error;

[0171] when each new movement cycle is added, obtaining the vertical distance of the movement cycle, comparing the vertical distance with the vertical distance of the previous movement cycle, and obtaining the difference between the two, if there is no previous movement cycle, no comparison is made, and the next movement cycle is continued;

[0172] if the difference is less than or equal to the minimum threshold value, the ultrasound probe continues to be controlled to move in the direction of the puncture reference point;

[0173] if the difference is greater than the minimum threshold value, the ultrasound probe is controlled to stop moving, the position of the ultrasound probe in the previous movement cycle is obtained, and the position is taken as the best monitoring position, if the current movement cycle is the first movement cycle, the puncture observation point is taken as the best monitoring position;

[0174] When the ultrasound probe moves to a distance from the puncture point less than or equal to the unit movement distance, the current position of the ultrasound probe is taken as the best monitoring position. By controlling the ultrasound probe to move step by step along the puncture line segment to the puncture reference point, fine regulation of the monitoring position is realized; by setting the unit movement distance, each movement forms a clear movement period, so that the distance between the needle tip of the puncture needle and the target blood vessel and the current tilt angle of the ultrasound probe are obtained in each period, and the corresponding vertical distance is calculated, providing an accurate basis for judging whether the target blood vessel is deformed due to the ultrasound probe; when the vertical distance difference calculated in each movement period is continuously compared, when the vertical distance of the new period and the difference of the last period exceeds the set minimum threshold, the movement can be stopped in time, so that the position of the ultrasound probe in the last period is locked as the best monitoring position; this best monitoring position is close enough to the position of the needle tip of the puncture needle entering the target blood vessel, which can effectively ensure that the ultrasound imaging is clear and the target blood vessel is not deformed due to the downward pressing of the ultrasound probe on the skin, avoid affecting the subsequent puncture needle into the target blood vessel, and ensure that the ultrasound image can clearly show the process of the subsequent puncture needle into the target blood vessel; the dynamic adjustment and continuous data acquisition form a closed-loop control system throughout the process, realizing the automatic determination of the best monitoring position, so as to effectively reduce the risk in the puncture process and improve the safety and success rate of the puncture operation under the premise of ensuring the real-time visibility of the puncture needle.

[0175] It should be noted that in this text, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0176] The above is only the preferred embodiment of the present application, and it should be noted that for those skilled in the art, without departing from the technical principles of the present application, a number of improvements and refinements can be made, which should also be considered as the protection scope of the present application.

Claims

1. An ultrasound interventional puncture system, characterized by, The application relates to an ultrasonic intervention puncture system. The puncture system comprises: An ultrasonic detection module comprising an ultrasonic probe and an ultrasonic image display device, which is used for ultrasonic detection of a patient and acquisition of an ultrasonic image; A puncture needle, which is used for puncture of the patient; A cross-sectional area acquisition module, which is used for acquisition of a cross-sectional area of a target blood vessel collected in the image according to the ultrasonic image; A point marking module, which is used for marking required points on the skin of the patient, and the points comprise an initial detection point, a sampling point and a position reference point; A line marking module, which is used for marking required lines on the skin of the patient, and the lines comprise a contact line, a reference line segment and a primary selection line segment; A data comparison module, which is used for comparison of the collected cross-sectional area of the target blood vessel. The ultrasonic intervention puncture system comprises: Acquisition of a blood vessel for ultrasonic intervention puncture of a patient, which is recorded as a target blood vessel; Detection of a direction of the target blood vessel by using the ultrasonic probe; Selection of a puncture line segment for performing puncture according to the direction of the target blood vessel; Monitoring of a needle tip of the puncture needle and a state of the target blood vessel by using the ultrasonic probe during the process of performing puncture; Acquisition of an optimal monitoring position for the puncture process according to the state of the target blood vessel; Adjustment of the ultrasonic probe to move to the optimal monitoring position, monitoring of the puncture process and completion of the puncture. The detection of the direction of the target blood vessel by using the ultrasonic probe comprises: Marking of a region where the target blood vessel is located on the surface of the skin of the patient, which is recorded as a detection region; Selection of an optional point in the detection region as an initial detection point; Acquisition of a line segment formed by contact of the ultrasonic probe with the skin of the patient, which is recorded as a contact line; S1, moving the ultrasonic probe to the initial detection point, making a midpoint of the contact line coincide with the initial detection point, keeping the ultrasonic probe perpendicular to the skin of the patient and acquiring an ultrasonic image; S2, acquisition of a cross-sectional area of an imaging graph of the target blood vessel in the ultrasonic image, which is recorded as an initial cross-sectional area; S3, setting of a unit angle for controlling horizontal rotation of the ultrasonic probe; S4, controlling of the horizontal rotation of the ultrasonic probe and acquisition of a selection contact line; S5, marking of a position reference point on the skin of the patient according to the selection contact line; S6, acquisition of a detection depth of the target blood vessel in combination with the selection contact line; drawing a straight line perpendicular to the selection contact line and passing through the position reference point on the surface of the skin of the patient and acquiring a partial line segment of the straight line in the detection region, which is recorded as a reference line segment; during the rotation of the ultrasonic probe, the ultrasonic probe is rotated by a unit angle, which is recorded as a horizontal rotation period; acquiring an ultrasonic image in each horizontal rotation period respectively and acquiring a cross-sectional area of the target blood vessel in the ultrasonic image, which is recorded as a target cross-sectional area corresponding to the horizontal rotation period; acquiring the target cross-sectional area of each horizontal rotation period and comparing the target cross-sectional areas; selecting a target cross-sectional area with the smallest area and comparing the target cross-sectional area with the initial cross-sectional area, selecting a smallest cross-sectional area from the target cross-sectional area and the initial cross-sectional area, and recording the smallest cross-sectional area as a selection cross-sectional area; acquiring an ultrasonic image corresponding to the selection cross-sectional area and acquiring a contact line of the ultrasonic probe when the ultrasonic image is collected, and recording the contact line as a selection contact line; setting a unit point interval; setting a sampling point on the reference line segment every unit point interval; sequentially taking each sampling point as the initial detection point and executing the steps S1-S6 to acquire the position reference point and the detection depth under each sampling point.

2. The ultrasound interventional puncture system according to claim 1, characterized in that, The control ultrasonic probe to rotate horizontally, specifically: Obtain the contact line of the current ultrasonic probe, and mark it as an initial line; Rotate the ultrasonic probe clockwise, and rotate the contact line around the initial detection point until the contact line of the ultrasonic probe is perpendicular to the initial line; When the contact line of the ultrasonic probe is perpendicular to the initial line, reset the ultrasonic probe so that the contact line of the ultrasonic probe coincides with the initial line; Rotate the ultrasonic probe counterclockwise, and rotate the contact line around the initial detection point until the contact line of the ultrasonic probe is perpendicular to the initial line.

3. The ultrasound interventional puncture system according to claim 1, characterized in that, The method according to the selected contact line, marking a position reference point on the patient's skin, comprises: Obtain a straight line passing through the selected contact line, and mark it as a moving reference line; Control the ultrasonic probe to move along the moving reference line, keep the contact line on the moving reference line, and observe the position of the target blood vessel in the real-time displayed ultrasonic image; When the target blood vessel is on the vertical center line of the ultrasonic image, stop the movement of the ultrasonic probe; Obtain the midpoint of the current ultrasonic probe contact line, and take the midpoint as the position reference point.

4. The ultrasound interventional puncture system of claim 1, wherein, The method according to the selected contact line, obtaining the detection depth of the target blood vessel, comprises: Make the midpoint of the ultrasonic probe contact line coincide with the position reference point; Obtain the distance between the target blood vessel and the skin surface in the current ultrasonic image, and take the distance as the detection depth of the target blood vessel.

5. The ultrasonic interventional puncture system according to claim 1, characterized in that, The method according to the direction of the target blood vessel, selecting a position to perform puncture, comprises: Obtain the position reference point of each sampling point; Connect each position reference point in sequence to form a polyline, obtain the longest line segment in the polyline, and mark it as a preliminary selected line segment; Obtain the sampling points passed by the preliminary selected line segment, and mark them as preliminary selected points; Obtain the detection depth corresponding to each preliminary selected point, and mark it as a preliminary selected depth; Set a detection depth deviation threshold; Obtain all preliminary selected point combinations that exist continuously on the preliminary selected line segment and whose preliminary selected depths do not exceed the detection depth deviation threshold; Compare the number of preliminary selected points in each preliminary selected point combination respectively, select the preliminary selected point combination with the largest number, and mark it as a selected combination; Connect the preliminary selected points in the selected combination, and take the position of the connected line as a puncture line segment to perform puncture.

6. The ultrasonic interventional puncture system according to claim 1, characterized in that, The method according to the state of the target blood vessel, obtaining the best monitoring position for the puncture process, comprises: Obtain two end points of the puncture line segment, take one of the end points as a puncture point, and take the other end point as a puncture observation point; Obtain the midpoint of the puncture line segment as a puncture reference point; Use the puncture needle at the puncture point to adjust the puncture angle of the puncture needle to tilt downward in the direction of the puncture reference point to puncture the patient; During the puncture process, control the puncture direction of the puncture needle to keep the projection line segment of the puncture needle on the patient's skin in a straight line with the puncture line segment; Control the ultrasonic probe to observe the position of the needle tip of the puncture needle at the puncture observation point; Control the puncture needle to gradually penetrate into the patient's body, and adjust the tilt angle of the ultrasonic probe so that the displayed ultrasonic image always displays the needle tip of the puncture needle; Set an adjustment interval; During the puncture process, monitor the interval between the puncture needle and the target blood vessel in the ultrasonic image, and when the interval is less than or equal to the adjustment interval, stop the puncture and perform monitoring position adjustment.

7. The ultrasound intervention puncture system according to claim 6, characterized in that, The monitoring position adjustment comprises: Set a unit movement distance; controlling the ultrasound probe to move gradually along the puncture line segment in the direction of the puncture reference point, each time moving a distance equal to the unit movement distance, until the distance between the ultrasound probe and the puncture point is less than or equal to the unit movement distance; each time the ultrasound probe moves, it is recorded as a movement period; in each movement period: adjust the tilt angle of the ultrasound probe, obtain the ultrasound image of the needle tip of the puncture needle, and obtain the distance between the needle tip of the puncture needle and the target blood vessel in the ultrasound image, recorded as the needle tube distance of the movement period, recorded as L; obtain the tilt angle of the current ultrasound probe, recorded as the ultrasound angle of the movement period, recorded as A; calculate sinA x L, and record the result as the vertical distance of the movement period; set a minimum deviation threshold for the vertical distance, recorded as the minimum threshold; each time a new movement period is added, obtain the vertical distance of the movement period, compare the vertical distance with the vertical distance of the last movement period, and obtain the difference between the two, if there is no last movement period, do not compare, and continue to the next movement period; if the difference is less than or equal to the minimum threshold, continue to control the ultrasound probe to move in the direction of the puncture reference point; if the difference is greater than the minimum threshold, control the ultrasound probe to stop moving, obtain the position of the ultrasound probe in the last movement period, and take the position as the best monitoring position, if the current movement period is the first movement period, take the puncture observation point as the best monitoring position; when the ultrasound probe moves to a distance less than or equal to the unit movement distance from the puncture point, take the current position of the ultrasound probe as the best monitoring position.

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