Ultrasound-guided puncture method and system

Abstract

The application provides an ultrasound-guided puncture method and system, relates to a data processing technology, and achieves accurate positioning during venous puncture under ultrasound guidance by constructing a part model corresponding to a puncture part, determining a partition scanning line of the part model, controlling an ultrasound device to perform segmented scanning on the puncture part based on the partition scanning line, obtaining a segmented scanning image, determining a segmented scanning image meeting a puncture condition as a sub-adaptive image, performing splicing processing on adjacent sub-adaptive images to obtain a spliced puncture image, performing venous shape judgment on the spliced puncture image to obtain a candidate puncture image, performing optimal selection on the candidate puncture image to obtain a puncture guide image, and determining a puncture point of a punctured vein in the puncture guide image based on a centripetal direction.

Description

Technical Field

[0001] This invention relates to data processing technology, and more particularly to an ultrasound-guided puncture method and system. Background Technology

[0002] With the development of science and technology, medical imaging technology is also advancing rapidly. Visual operation technology has begun to be applied to the puncture of difficult veins, and ultrasound-based venous instruments have gradually appeared on the market to facilitate venous puncture.

[0003] However, in existing technologies, ultrasound-guided puncture mainly relies on manual operation, requiring physicians to simultaneously control the ultrasound probe and puncture needle, and match the images with anatomical structures in real time. Due to the complexity of vascular morphology, large individual differences, and the need to dynamically adjust the position of the probe and needle tip during the operation, even with the support of ultrasound guidance, accurate puncture still faces significant challenges. Specifically, in the process of adjusting the probe angle and puncture path in real time, any slight deviation may cause the needle tip to fail to accurately reach the target blood vessel, or even lead to puncture failure or complications. For example, path deviation may cause the needle tip to accidentally enter surrounding tissues or nerves, causing adverse consequences such as pain, hematoma, or nerve damage, while incorrect needle tip positioning may require repeated puncture procedures, increasing the patient's pain and risk of infection.

[0004] Therefore, how to achieve precise positioning during venipuncture under ultrasound guidance has become an urgent problem to be solved. Summary of the Invention

[0005] This invention provides an ultrasound-guided puncture method and system that enables precise positioning during venous puncture under ultrasound guidance.

[0006] A first aspect of the present invention provides an ultrasound-guided puncture method, comprising:

[0007] A site model corresponding to the puncture site is constructed, the partition scan lines of the site model are determined, and the ultrasound device is controlled to perform segmented scanning of the puncture site based on the partition scan lines to obtain a segmented scan image.

[0008] The segmented scan image that meets the puncture conditions is determined as a sub-fit image, and adjacent sub-fit images are spliced ​​together to obtain a spliced ​​puncture image.

[0009] The vein morphology of the spliced ​​puncture image is judged to obtain candidate puncture images. The candidate puncture images are selected to obtain a puncture guidance image. The puncture point of the puncture vein in the puncture guidance image is determined based on the proximal direction.

[0010] Optionally, in one possible implementation of the first aspect, the partitioned scan lines of the site model are determined, and the ultrasound device is controlled to perform segmented scanning of the puncture site based on the partitioned scan lines to obtain a segmented scan image, including:

[0011] Determine the central axis of the part model, and construct partition perpendicular lines perpendicular to the central axis based on a preset interval distance;

[0012] The partition vertical lines are intercepted based on the edge contour lines of the part model to obtain the partition scan lines;

[0013] The shortest partitioned scan line is selected as the reference scan line. Starting from one end of the reference scan line, a dividing line parallel to the central axis is continuously constructed based on the scanning distance of the ultrasound equipment to divide the reference scan line until the remaining distance of the reference scan line is less than or equal to the scanning distance, thus obtaining multiple dividing lines.

[0014] The partition scan lines are divided according to the dividing lines to obtain multiple sub-scan lines;

[0015] The ultrasound device is controlled to perform segmented scanning of the puncture site at the sub-scanning line based on a preset scanning group, so as to obtain a segmented scanning image corresponding to each sub-scanning line. The preset scanning group includes a preset height, a preset direction, and a preset angle.

[0016] Optionally, in one possible implementation of the first aspect, the segmented scan map that satisfies the puncture condition is used as a sub-fit map, and adjacent sub-fit maps are stitched together to obtain a stitched puncture map, including:

[0017] When it is determined that the diameter of the scanned vein in the segmented scan image is greater than the puncture diameter threshold, the corresponding scanned vein is taken as the adapter vein, and the segmented scan image in which the adapter vein is located is determined as the sub-adaptation image.

[0018] The adjacent sub-adaptation maps are spliced ​​together to obtain the spliced ​​puncture map.

[0019] Optionally, in one possible implementation of the first aspect, the step of judging the vascular morphology of the veins in the spliced ​​puncture map to obtain candidate puncture maps, selecting the best candidate puncture maps to obtain a puncture guidance map, and determining the puncture point of the puncture vein in the puncture guidance map based on the proximal direction includes:

[0020] The vessel length of the matching vein in the spliced ​​puncture image is determined to obtain the initial screening puncture image, and the vessel continuity of the matching vein in the initial screening puncture image is determined to obtain the candidate puncture image.

[0021] The vein depth and vein diameter of the matching vein in the candidate puncture image are obtained, and the candidate puncture images are selected based on the vein depth and vein diameter to obtain the puncture guidance image.

[0022] The indwelling length of the indwelling device is determined, and the qualified veins in the puncture guidance diagram are divided based on the indwelling length and the proximal direction to obtain the puncture vein and the indwelling vein. The puncture point is determined at the puncture vein.

[0023] Optionally, in one possible implementation of the first aspect, the step of determining the vessel length of the veins in the spliced ​​puncture map to obtain a preliminary screening puncture map, and determining the vessel continuity of the matching veins in the preliminary screening puncture map to obtain a candidate puncture map, includes:

[0024] The number of stitches in the sub-fitting map of the stitched puncture map is obtained. When the number of stitches is greater than or equal to the preset number of stitches, the corresponding stitched puncture map is used as the initial screening puncture map.

[0025] The common edge of the sub-fitting image spliced ​​in the initial screening puncture image and the vein pixel corresponding to the fitting vein are determined as the fitting pixel.

[0026] The adjacent matching pixels in the initial screening puncture image are statistically analyzed to obtain multiple matching pixel sets. Each matching pixel set is then identified to obtain the spliced ​​vein corresponding to the matching pixel set.

[0027] When the spliced ​​vein passes through all common edges, the corresponding spliced ​​vein is considered a qualified vein, and the corresponding initial screening puncture image is considered a candidate puncture image.

[0028] Optionally, in one possible implementation of the first aspect, the step of selecting candidate puncture maps based on the vein depth and vein diameter to obtain a puncture guidance map includes:

[0029] Candidate puncture images are sorted in ascending order based on vein depth to obtain a depth sequence, and the candidate puncture images in the depth sequence are numbered to obtain the depth number of each candidate puncture image.

[0030] Candidate puncture images are sorted in descending order according to vein diameter to obtain a diameter sequence, and the candidate puncture images in the diameter sequence are numbered to obtain the diameter number of each candidate puncture image;

[0031] Based on the sum of the depth number and the diameter number of each candidate puncture image, a screening number is obtained, and the candidate puncture image with the smallest screening number is selected as the puncture guidance image.

[0032] Optionally, in one possible implementation of the first aspect, the step of dividing the qualified veins in the puncture guidance diagram based on the indwelling length and proximal direction to obtain the puncture vein and the indwelling vein, and determining the puncture point at the puncture vein, includes:

[0033] The puncture length is obtained based on the difference between the length of the qualified vein in the puncture guidance diagram and the indwelling length.

[0034] Based on the proximal direction, the endpoints of the qualified vein are sequentially determined as the starting endpoint and the ending endpoint, and the position point on the qualified vein at the puncture length from the starting endpoint is determined as the first dividing point;

[0035] The vein segment located between the starting point and the first dividing point on a qualified vein is identified as the puncture vein, and the vein segment located between the first dividing point and the ending point is identified as the indwelling vein.

[0036] Obtain the vein depth corresponding to the qualified vein. If the vein depth is less than the depth threshold, determine that the qualified vein is a superficial vein. Determine the puncture point at the puncture vein of the superficial vein.

[0037] If the vein depth is greater than or equal to the depth threshold, the qualified vein is determined to be a deep vein, and the puncture point is determined at the puncture site of the deep vein.

[0038] Optionally, in one possible implementation of the first aspect, if the vein depth is less than a depth threshold, the qualified vein is determined to be a superficial vein, and the puncture point is determined at the puncture site of the superficial vein, including:

[0039] If the vein depth is less than the depth threshold, the qualified vein is determined to be a superficial vein;

[0040] Select any point in the superficial vein where the vein is punctured as the puncture point.

[0041] Optionally, in one possible implementation of the first aspect, if the vein depth is greater than or equal to a depth threshold, the qualified vein is determined to be a deep vein, and the puncture point is determined at the puncture site of the deep vein, including:

[0042] If the vein depth is greater than or equal to the depth threshold, the qualified vein is determined to be a deep vein;

[0043] Once it is determined that there is no vascular soft tissue obstructing the puncture vein of the deep vein, the point with the largest diameter on the puncture vein of the deep vein is taken as the puncture point;

[0044] Once it is determined that there is a puncture vein that is obscured by the soft tissue of the blood vessel, the vein segment located under the obscuration range of the soft tissue of the blood vessel is identified as the obscured vein.

[0045] Remove the obstructing veins located on the puncture vein to obtain the remaining veins, and determine the point with the largest diameter on the remaining veins as the puncture point.

[0046] A second aspect of the present invention provides an ultrasound-guided puncture system, comprising:

[0047] The construction module is used to construct a site model corresponding to the puncture site, determine the partition scan lines of the site model, and control the ultrasound device to perform segmented scanning of the puncture site based on the partition scan lines to obtain a segmented scan image.

[0048] The stitching module is used to determine the segmented scan image that meets the puncture conditions as a sub-adaptation image, and to stitch adjacent sub-adaptation images together to obtain a stitched puncture image.

[0049] The determination module is used to determine the vascular morphology of the veins in the spliced ​​puncture diagram to obtain candidate puncture diagrams, select the best candidate puncture diagrams to obtain puncture guidance diagrams, and determine the puncture point of the puncture vein in the puncture guidance diagram based on the proximal direction.

[0050] A third aspect of the present invention provides an electronic device comprising: a memory, a processor, and a computer program, the computer program being stored in the memory, and the processor executing the computer program to perform the methods described in the first aspect of the present invention and various possible methods related to the first aspect.

[0051] The beneficial effects of this invention are as follows:

[0052] 1. This invention can achieve comprehensive coverage of the puncture site by constructing a site model corresponding to the puncture site and performing segmented scanning based on partitioned scan lines. This avoids the problems of missed or repeated scanning that may occur in traditional ultrasound scanning. Specifically, it can determine the central axis, construct partitioned vertical lines, and cut partitioned scan lines according to the edge contour lines to ensure that the scanning area accurately matches the shape of the actual puncture site. Furthermore, the shortest partitioned scan line can be selected as the reference scan line, and the partitioning lines can be constructed based on the scanning distance of the ultrasound equipment, further refined into multiple sub-scanning lines. The ultrasound equipment is controlled to perform segmented scanning according to preset scan groups (including preset height, preset direction, and preset angle), thereby ensuring the comprehensiveness and standardization of vascular detection and providing an accurate imaging basis for subsequent puncture operations.

[0053] 2. This invention effectively reduces interference from irrelevant information and improves processing efficiency and accuracy of puncture point determination by screening and stitching the acquired segmented scan images. Sub-fit images are selected based on puncture conditions (such as vein diameter greater than the puncture diameter threshold), and adjacent sub-fit images are then stitched together to obtain a stitched puncture image. In this process, images that are useless for guiding puncture operations, such as those with excessively thin or discontinuous blood vessels, can be excluded, reducing the amount of data processing. At the same time, it can ensure that the stitched image can continuously and accurately present information about blood vessels and other tissues, providing clear and accurate image basis for subsequent judgment of blood vessel morphology.

[0054] 3. This invention can determine the vascular morphology of veins in the spliced ​​puncture diagram, comprehensively consider factors such as vein length, depth, and diameter, select the best puncture guide diagram from the candidate puncture diagrams, and determine the puncture point based on the proximal direction, which can effectively improve the success rate and safety of puncture.

[0055] 4. When determining the puncture point, this invention can determine the puncture point according to the depth of the qualified vein, and adopt different positioning strategies for superficial veins and deep veins, which can improve the adaptability and accuracy of the puncture operation. For superficial veins, any point can be selected as the puncture point at the puncture vein. For deep veins, if there is no vascular soft tissue obstructing the puncture vein, the point with the largest diameter on the puncture vein is selected as the puncture point. If there is vascular soft tissue obstruction, the obstructing vein is removed, and the point with the largest diameter on the remaining vein is selected as the puncture point. This method of scientifically determining the puncture point according to the vein depth and the situation of vascular soft tissue obstruction not only follows the natural flow of blood, but also reduces the risk of blood backflow, which can improve the success rate and safety of puncture, and reduce the risk of various complications caused by improper selection of puncture point. Attached Figure Description

[0056] Figure 1 A flowchart of an ultrasound-guided puncture method provided by the present invention;

[0057] Figure 2 This is a schematic diagram illustrating how a qualified vein can be divided into a puncture vein and an indwelling vein, as provided by the present invention.

[0058] Figure 3 A schematic diagram of the structure of an ultrasound-guided puncture system provided by the present invention;

[0059] Figure 4 This is a schematic diagram of the hardware structure of an electronic device provided by the present invention. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0062] See Figure 1 This is a schematic flowchart of an ultrasound-guided puncture method provided in an embodiment of the present invention. Figure 1 The execution entity of the method shown can be a software and / or hardware device. The execution entity of this application can include, but is not limited to, at least one of the following: user equipment, network equipment, etc. User equipment can include, but is not limited to, computers, smartphones, personal digital assistants (PDAs), and the aforementioned electronic devices. Network equipment can include, but is not limited to, a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers. Cloud computing is a type of distributed computing, consisting of a super virtual computer composed of a group of loosely coupled computers. This embodiment does not limit this. Steps S1 to S3 are detailed as follows:

[0063] S1. Construct a site model corresponding to the puncture site, determine the partition scan lines of the site model, and control the ultrasound device to perform segmented scanning of the puncture site based on the partition scan lines to obtain a segmented scan image.

[0064] Among them, the puncture site refers to the location where the patient needs to undergo venous puncture. For example, when the patient needs to undergo venous puncture in the left upper limb, the corresponding puncture site can be the left upper limb. The site model refers to the model corresponding to the puncture site. For example, when the patient's puncture site is the left upper limb, the corresponding site model can be the left upper limb model. The zonal scan lines refer to the multiple dividing lines when dividing the site model into regions. The ultrasound equipment refers to the detection equipment used to perform ultrasound detection on the puncture site, such as an ultrasound probe. The segmented scan image refers to the ultrasound image corresponding to each region.

[0065] Ultrasound-guided venipuncture is widely used in clinical practice, especially in the puncture of difficult veins (such as deep veins, small veins, or veins in obese patients). Traditional venipuncture relies on the operator's practical experience, resulting in a high failure rate and a tendency to cause complications. With the advancement of medical imaging technology, ultrasound equipment can provide real-time vascular visualization, significantly improving the success rate of puncture. However, due to the complexity of vascular morphology, large individual differences, and the need for dynamic adjustment of the probe and needle tip position during the operation, accurate puncture still faces significant challenges. This solution can divide the puncture site into regions using a site model corresponding to the puncture site. It can control the ultrasound detection equipment to acquire ultrasound images corresponding to each region, thereby avoiding problems such as missed scans and duplicate scans when scanning the puncture site with ultrasound, ensuring the comprehensiveness and standardization of vascular detection. Furthermore, after acquiring the ultrasound images corresponding to each region, this solution can combine the continuity of vascular structure to stitch the corresponding ultrasound images and make corresponding judgments on the vascular morphology in the stitched images to ensure that the final determined puncture point is the optimal puncture location.

[0066] Specifically, when a patient needs to undergo a puncture procedure, a corresponding site model can be constructed based on the actual location of the venipuncture. The constructed site model is roughly the same size as the actual puncture site. For example, if the patient needs a venipuncture in the left upper limb, a left upper limb model is constructed. This site model is a digital representation of the puncture site, providing a basic framework for subsequent zonal scanning. It can simulate the approximate shape and structure of the puncture site, making the scanning operation more targeted and systematic. After constructing the site model, the model can be divided into regions, determining multiple zonal scan lines. The puncture site is rationally divided into multiple regions to ensure that subsequent scans can cover all areas where blood vessels may exist at the puncture site, avoiding omissions. The ultrasound equipment (such as an ultrasound probe) is controlled to perform segmented scanning of the puncture site according to the determined zonal scan lines. The ultrasound equipment sequentially performs ultrasound detection on each region according to the zonal lines, and converts the detected tissue and blood vessel information into images, resulting in segmented scan images corresponding to each region. Each segmented scan image reflects the ultrasound image of a specific area of ​​the puncture site. These images together constitute a comprehensive ultrasound information record of the puncture site, providing a rich data foundation for subsequent analysis.

[0067] In some embodiments, step S1, "determining the partition scan lines of the site model, controlling the ultrasound device to perform segmented scanning of the puncture site based on the partition scan lines, and obtaining a segmented scan image," includes the following steps:

[0068] S11, Determine the central axis of the part model, and construct partition perpendicular lines perpendicular to the central axis based on a preset interval distance.

[0069] Specifically, in the constructed part model, its corresponding central axis can be determined. The central axis is a key line that runs through the center of the model and can reflect the overall direction of the part. Taking the left upper limb part model as an example, its shape is similar to a cylinder. The central axis can be set as a straight line extending along the longitudinal center of the limb. After determining the central axis, a series of partition vertical lines perpendicular to the central axis can be constructed according to the preset interval distance. The partition vertical lines can divide the puncture site into multiple parts evenly along the direction of the central axis, laying the foundation for subsequent more detailed area division and scanning path planning. Each partition vertical line intersects the central axis perpendicularly to ensure the uniform division of the puncture site in the lateral direction.

[0070] Among them, the central axis refers to the geometric center of the through part model and the baseline that reflects its overall direction. The preset interval distance refers to the fixed distance between two adjacent partition perpendicular lines that are predefined. The partition perpendicular line refers to the cutting line that intersects the central axis perpendicularly and is arranged at the preset interval distance.

[0071] S12, the partition vertical line is cut off according to the edge contour line of the part model to obtain the partition scan line.

[0072] Because the site model has irregular edge contours, the length of the constructed partition vertical lines may exceed the actual site range. Therefore, it is necessary to truncate the partition vertical lines according to the edge contour lines of the site model. Specifically, the vertical lines are cut off at the intersection of the partition vertical lines and the edge contour lines of the site model, retaining the line segments located inside the site model. These cut line segments are the partition scan lines. Through this step, the partition scan lines accurately conform to the actual shape of the puncture site, ensuring that subsequent scans can cover the real tissue and blood vessel areas, avoiding invalid scans and scan blind spots.

[0073] Among them, the edge contour line refers to the outer boundary line of the part model, which is formed by connecting all visible edge points on the model surface. The partition scan line refers to the partial partition vertical line located between the edge contour lines of the part model after being cut by the edge contour line.

[0074] S13, select the shortest partitioned scan line as the reference scan line, take one end of the reference scan line as the starting point, and continuously construct a dividing line parallel to the central axis based on the scanning distance of the ultrasound equipment to divide the reference scan line until the remaining distance of the reference scan line is less than or equal to the scanning distance, thus obtaining multiple dividing lines.

[0075] Among all the partitioned scan lines, the shortest one is selected as the baseline scan line. The shortest scan line is chosen as the baseline because it can represent a relatively narrow area of ​​the puncture site. Dividing based on this is more universal and representative, and can adapt to the scanning needs of different width areas of the puncture site. Starting from one end point of the baseline scan line (such as the left end point), according to the scanning distance of the ultrasound equipment (i.e., the straight distance that the ultrasound probe can cover in one scan), the dividing line is constructed along the direction parallel to the central axis until the remaining length of the baseline scan line is less than or equal to the scanning distance of the ultrasound equipment. In this way, the baseline scan line is divided into several segments, and multiple dividing lines can be obtained. These dividing lines provide a basis for the subsequent division of partitioned scan lines.

[0076] Among them, the reference scan line refers to the shortest partition scan line, the scan distance refers to the length corresponding to the coverage area of ​​a single scan by the ultrasound equipment, the dividing line refers to the line parallel to the central axis that can divide the reference scan line, and the remaining distance refers to the length of the part of the reference scan line that is not covered by the dividing line and does not yet meet the coverage area of ​​a single scan (i.e., less than or equal to the scan distance) after multiple divisions based on the ultrasound equipment scan distance during the process of dividing the reference scan line.

[0077] S14, the partition scan lines are divided according to the dividing lines to obtain multiple sub-scan lines.

[0078] Specifically, based on the obtained dividing lines, each partition scan line is divided according to the same length ratio and direction. Since the dividing lines are generated based on the reference scan line and have a unified dividing standard, the consistency and rationality of the division of all partition scan lines can be guaranteed. Each small segment obtained after division is a sub-scan line. These sub-scan lines further refine the scanning area, allowing the ultrasound equipment to perform precise scanning in smaller units, thereby improving the detail of the scan and image quality. A sub-scan line refers to the segmented line obtained after cutting the partition scan line using the dividing lines.

[0079] S15, control the ultrasound device to perform segmented scanning of the puncture site at the sub-scanning line based on a preset scanning group, and obtain a segmented scanning image corresponding to each sub-scanning line. The preset scanning group includes a preset height, a preset direction, and a preset angle.

[0080] Specifically, the preset scan group includes three key parameters: preset height, preset direction, and preset angle. The preset height refers to the vertical distance between the ultrasound probe and the skin surface at the puncture site, which affects the clarity and resolution of the ultrasound image. The preset direction is the direction in which the ultrasound probe scans, ensuring that the scan can proceed along the predetermined path. The preset angle determines the angle between the ultrasound probe and the surface of the puncture site. Different angles can acquire information about blood vessels and tissues at different levels. These parameters are set and optimized based on clinical experience and the performance characteristics of the ultrasound equipment to obtain the best scan images. The ultrasound equipment is controlled to scan the puncture site area corresponding to each sub-scan line in sequence according to the parameter requirements of the preset scan group, which can obtain segmented scan images corresponding to each sub-scan line. Each segmented scan image records the ultrasound image information of a specific sub-region of the puncture site in detail. All segmented scan images together form a complete and detailed ultrasound image data of the puncture site, providing rich and accurate information for subsequent image screening and puncture point determination.

[0081] Among them, the preset scanning group refers to a set of pre-configured ultrasound scanning parameters, including three core dimensions: height, direction, and angle. The preset height refers to the vertical distance between the ultrasound probe's beam emission surface and the skin surface of the puncture site. The preset direction refers to the direction in which the ultrasound probe head scans. The preset angle refers to the angle between the ultrasound probe head and the surface of the puncture site.

[0082] The above-described implementation method enables a comprehensive scan of the puncture site, ensuring the comprehensiveness and standardization of vascular detection, thereby providing an accurate imaging basis for subsequent puncture procedures.

[0083] S2, determine the segmented scan image that meets the puncture conditions as the sub-adaptation image, and stitch adjacent sub-adaptation images together to obtain the stitched puncture image.

[0084] Among them, the puncture condition refers to the diameter of the vein being greater than a certain diameter threshold, the sub-fit map refers to the segmented scan map that meets the puncture condition, and the stitched puncture map refers to the image obtained by stitching together the ultrasound images corresponding to multiple adjacent regions that meet the puncture condition.

[0085] After completing the segmented scanning of the puncture site, the resulting large number of segmented scan images contain rich but complex information. Some images may have limited guiding value for the puncture operation due to reasons such as thin blood vessels or unclear display. If all images are processed directly, it will not only increase the computational burden, but may also affect the accuracy of the final puncture point judgment due to interference from irrelevant information. Therefore, the segmented scan images can be screened and integrated to extract the information that is truly valuable for the puncture.

[0086] Specifically, all acquired segmented scan images can be analyzed. Based on pre-set puncture conditions, segmented scan images that meet the puncture conditions are selected and designated as sub-fit images. Puncture conditions may include factors such as the diameter of the blood vessel. Only segmented scan images that meet the puncture conditions can be considered valuable for determining the puncture site. Other images that do not meet the conditions will be excluded, thereby reducing the amount of data to be processed and improving processing efficiency. Then, adjacent sub-fit images can be stitched together. Since sub-fit images are ultrasound image records of adjacent areas of the puncture site, image stitching technology can integrate these adjacent areas into a complete stitched puncture image, ensuring that the stitched image can continuously and accurately present information about blood vessels and other tissues, providing clear and complete image evidence for subsequent vascular morphology judgment.

[0087] Based on the above embodiments, step S2 can be implemented in the following ways:

[0088] S21, when it is determined that the diameter of the scanned vein in the segmented scan image is greater than the puncture diameter threshold, the corresponding scanned vein is taken as the matching vein, and the segmented scan image in which the matching vein is located is taken as the sub-matching image.

[0089] Specifically, a puncture diameter threshold can be pre-set based on clinical experience and the needs of different puncture scenarios. This threshold is a key indicator for determining whether a vein is suitable for puncture. It is usually determined based on the minimum vein diameter that allows for smooth puncture and ensures the effectiveness of infusion or blood draw. Each segmented scan image is carefully analyzed, and image processing technology is used to identify the veins displayed in the image. For each identified vein, its diameter can be measured, and the measurement result is compared with the pre-set puncture diameter threshold. When a vein's diameter is found to be greater than the threshold, this vein is marked as a suitable vein. At the same time, the segmented scan image containing this suitable vein is determined as a sub-fit image. Through this screening process, images with blood vessels that are too thin and unsuitable for puncture can be excluded, effectively reducing the amount of data to be processed and improving processing efficiency.

[0090] Among them, scanned vein refers to the venous vascular structure identified through ultrasound segmented scanning, vein diameter refers to the diameter of the corresponding venous vessel, puncture diameter threshold refers to the pre-set minimum vein diameter value used to determine whether the vessel is suitable for puncture operation, and suitable vein refers to the vessel whose diameter exceeds the puncture diameter threshold, which is a candidate target for puncture operation.

[0091] S22, the adjacent sub-adaptation maps are spliced ​​together to obtain a spliced ​​puncture map.

[0092] Specifically, in the selected sub-adaptor images, based on their positional relationship during the original segmented scanning process, it is determined which sub-adaptor images are vertically adjacent. This adjacency relationship is based on the layout of the partition scan lines and sub-scan lines, ensuring that adjacent sub-adaptor images correspond to continuous tissue regions anatomically. The vertically adjacent sub-adaptor images are aligned, and image fusion technology is used to stitch the aligned sub-adaptor images together, ensuring that the blood vessel and tissue information in the stitched image is continuous and natural. The final stitched puncture image is a complete image containing continuous blood vessel structures, which provides a clear and accurate basis for subsequent blood vessel morphology judgment and puncture point determination.

[0093] The above implementation method ensures that the stitched image can continuously and accurately present information about blood vessels and other tissues, thereby providing clear and accurate image basis for subsequent blood vessel morphology judgment.

[0094] S3, the vein morphology of the spliced ​​puncture diagram is judged to obtain candidate puncture diagrams, the candidate puncture diagrams are selected by optimization to obtain puncture guidance diagrams, and the puncture point of the puncture vein in the puncture guidance diagram is determined based on the proximal direction.

[0095] In the process of judging vascular morphology, the length and depth of veins in the spliced ​​puncture diagram can be judged accordingly. The candidate puncture diagram refers to the spliced ​​puncture diagram with veins that meet the length requirements and are continuous. The puncture guidance diagram refers to the candidate puncture diagram corresponding to the vein with the smallest vein depth and the largest vein diameter. The proximal direction refers to the direction of blood flow towards the heart. The puncture vein refers to the vein selected as the puncture target in the spliced ​​puncture diagram. The puncture point refers to the specific puncture location determined on the puncture vein.

[0096] A comprehensive vascular morphology assessment is performed on the spliced ​​puncture images. By precisely determining the length and depth of the veins, spliced ​​puncture images containing continuous veins meeting certain length criteria are selected as candidate puncture images. These candidate images contain potentially suitable areas for venous puncture. In-depth analysis and comprehensive comparison of the candidate puncture images are conducted, considering multiple dimensions such as vessel depth and diameter. The candidate puncture image corresponding to the vein with the smallest depth and largest diameter is selected as the puncture guidance image. This guidance image may contain the most favorable vascular information for successful puncture. The procedure provides the clearest and most accurate operational guidance, ensuring that the puncture operation is both safe and efficient. Based on the proximal direction (i.e., towards the heart), the puncture point of the vein is accurately determined in the puncture guidance diagram. Choosing the proximal direction for the puncture point is because it conforms to the natural flow of blood, ensuring that blood can flow smoothly into the blood vessel after puncture, effectively reducing the risks of blood backflow, thrombosis, and other risks. In specific operations, the optimal puncture point is precisely marked based on the specific shape and location of the blood vessel in the puncture guidance diagram, providing a clear target for the venous puncture operation, thereby significantly improving the success rate and safety of the puncture and reducing the risk of various complications caused by improper puncture point selection.

[0097] Based on the above embodiments, step S3 can be implemented in the following ways:

[0098] S31, the vessel length of the matching vein in the spliced ​​puncture image is judged to obtain the initial screening puncture image, and the vessel continuity of the matching vein in the initial screening puncture image is judged to obtain the candidate puncture image.

[0099] Specifically, the length of the matching veins (veins with diameters meeting the threshold) in the spliced ​​puncture images is judged, and spliced ​​puncture images that meet the length requirements are selected as the initial screening puncture images. This step can exclude veins that are too short, avoiding puncture failure or placement difficulties due to insufficient vessel length. In the initial screening puncture images, the continuity of the matching veins is further evaluated. Since there may be interference from vascular branches in the ultrasound images, the continuity of the veins in the images can be confirmed through morphological analysis. In practice, it is necessary to detect whether there are any interruptions in the veins and retain the images corresponding to veins with good continuity as candidate puncture images. This can ensure that the selected vascular path is smooth and reduce the risk of catheter jamming during the puncture process.

[0100] Among them, the initial screening puncture image refers to the spliced ​​puncture image corresponding to the matching vein that meets the requirements for vessel length.

[0101] Based on the above embodiments, step S31 can be implemented in the following ways:

[0102] S311, obtain the number of splices of the sub-adaptation map in the spliced ​​puncture map, and when the number of splices is greater than or equal to the preset number of splices, use the corresponding spliced ​​puncture map as the initial screening puncture map.

[0103] Specifically, in the obtained stitched puncture images, the number of stitched sub-fit images (segmented scan images that meet the puncture conditions) can be counted to identify and count each sub-fit image that constitutes the stitched puncture image. The preset stitching number is a threshold set based on clinical experience and research on the vascular distribution characteristics of the puncture site. For example, for more complex puncture sites, the preset stitching number may be set to 5, meaning that only when the stitched puncture image contains 5 or more sub-fit images can it contain sufficiently long and complete vascular information. The obtained stitching number is compared with the preset stitching number. When the stitching number is greater than or equal to the preset stitching number, it indicates that the stitched puncture image contains relatively rich vascular information and may contain a matching vein with the required length. It can be used as a preliminary screening puncture image. This step performs a preliminary screening of the stitched puncture images as a whole, eliminating images with too few factor fit images and a high probability of not containing suitable blood vessels, thus reducing the amount of data for subsequent processing.

[0104] Among them, the number of stitches refers to the number of sub-fit images, and the preset number of stitches refers to the pre-set threshold for the number of sub-fit images, which can be used to determine whether the stitched puncture image contains sufficient vascular information.

[0105] S312, determine the common edge of the sub-adaptation map splicing in the initial screening puncture image, and the vein pixel point corresponding to the adapting vein as the adapting pixel point.

[0106] In the initial screening puncture image, the boundaries formed during the stitching of each sub-fit image can be analyzed. Since the sub-fit images are ultrasound image records of adjacent areas of the puncture site, there will be overlapping boundaries during stitching. These overlapping boundaries are called common edges. In the initial screening puncture image, the corresponding pixels of the matching vein (the vein with a diameter that meets the threshold) can be extracted from the image and marked as matching pixels. Here, the common edge refers to the overlapping edge formed during the stitching of adjacent sub-fit images, and the matching pixel refers to the pixel corresponding to the matching vein in the initial screening puncture image.

[0107] S313, count the adjacent matching pixels in the initial screening puncture image to obtain multiple matching pixel sets, and identify each matching pixel set to obtain the spliced ​​vein corresponding to the matching pixel set.

[0108] In the initial screening puncture image, the matching pixels are analyzed, and adjacent matching pixels are grouped to obtain multiple sets of matching pixels. The basis for determining adjacent pixels is their spatial relationship in the image. For example, in a two-dimensional image, pixels that are adjacent vertically, horizontally, or vertically are considered adjacent. By traversing all matching pixels and classifying them according to their adjacency, multiple different sets of matching pixels can be formed. Each set of matching pixels is analyzed and identified. If the pixels in a set can form a continuous path through a series of adjacent connections, then the set can be considered to correspond to a spliced ​​vein. A spliced ​​vein refers to a continuous blood vessel segment in the initial screening puncture image, identified through the analysis and identification of the matching pixel set. These spliced ​​veins may be part of a complete blood vessel or a segment of blood vessel presented after splicing different sub-matching images. Accurate identification of spliced ​​veins can clearly present the morphology and direction of blood vessels in the image. Specifically, a spliced ​​vein refers to a continuous blood vessel segment in the initial screening puncture image, identified through the analysis and identification of the matching pixel set.

[0109] S314, when the spliced ​​vein passes through all common edges, the corresponding spliced ​​vein is regarded as a qualified vein, and the corresponding initial screening puncture image is regarded as a candidate puncture image.

[0110] Specifically, it can be checked whether each spliced ​​vein passes through all common edges. If a spliced ​​vein can pass through the common edges of all sub-fit images in the initial screening puncture image, it means that the vein is continuous in the entire splicing area without any interruption, and it can be regarded as a qualified vein. This judgment process can ensure that the screened blood vessels have good continuity within the image range, which meets the requirements of vascular integrity for puncture operation. When a spliced ​​vein (i.e. a qualified vein) that passes through all common edges is found in the initial screening puncture image, it means that the initial screening puncture image contains blood vessels with sufficient length and good continuity, and it can be identified as a candidate puncture image. The candidate puncture image can enter the subsequent evaluation stage to further screen the best puncture guidance image and provide reliable image basis for puncture operation.

[0111] Among them, a qualified vein refers to a spliced ​​vein that passes through all common edges.

[0112] S32, obtain the vein depth and vein diameter of the suitable vein in the candidate puncture image, and select the best candidate puncture image based on the vein depth and vein diameter to obtain the puncture guidance image.

[0113] Specifically, for each compatible vein in the candidate puncture map, the vertical depth of the compatible vein from the skin surface, i.e., the vein depth, can be calculated using the echo time information of the ultrasound image. The vein diameter corresponding to the compatible vein in the candidate puncture map can also be measured. Veins with smaller depths are preferred to reduce tissue damage in the puncture path, while veins with larger diameters are preferred to improve the puncture success rate and reduce the risk of thrombosis. Therefore, the candidate puncture map with the smallest vein depth and the largest vein diameter can be used as the puncture guidance map.

[0114] Among them, vein depth refers to the vertical distance from the center of the adapted vein to the skin surface, and vein diameter refers to the diameter of the adapted vein.

[0115] In some embodiments, step S32, "selecting candidate puncture maps based on the vein depth and vein diameter to obtain a puncture guidance map," includes the following steps:

[0116] S321, sort the candidate puncture images in ascending order based on vein depth to obtain a depth sequence, and number the candidate puncture images in the depth sequence to obtain the depth number of each candidate puncture image.

[0117] Specifically, for each compatible vein in the candidate puncture images, its depth can be calculated using the echo time information of the ultrasound image. Ultrasound waves emitted by the ultrasound device will reflect when they encounter different tissues. Based on the echo return time and the propagation speed of ultrasound waves in human tissue (which is known and relatively stable), the vertical distance from the center of the vein to the skin surface, i.e., the vein depth, can be accurately calculated. All candidate puncture images are then arranged in ascending order according to the depth of the compatible veins, from the shallowest to the deepest. This allows for intuitive placement of candidate puncture images containing shallower veins at the beginning of the sequence, as shallower veins are more conducive to puncture, reducing damage to muscles, fascia, and other tissues during the puncture process, thus lowering the difficulty and risk of puncture. The candidate puncture images in the sorted depth sequence are numbered sequentially, starting from 1. The candidate puncture image with the smallest depth is numbered 1, the next smallest is numbered 2, and so on. This number (depth number) represents the relative order of merit of each candidate puncture image in the vein depth dimension.

[0118] The depth sequence refers to the sequence obtained by arranging the candidate puncture images in ascending order according to the vein depth, and the depth number refers to the number corresponding to each candidate puncture image in the depth sequence.

[0119] S322, sort the candidate puncture images in descending order according to the vein diameter to obtain a diameter sequence, and number the candidate puncture images in the diameter sequence to obtain the diameter number of each candidate puncture image.

[0120] Specifically, all candidate puncture images are sorted in descending order according to the diameter of the compatible vein, from the largest to the smallest. This is because veins with larger diameters are easier to insert needles or catheters, increasing the success rate of punctures. At the same time, larger diameters also help reduce the risk of thrombosis, so veins with larger diameters are given priority. The candidate puncture images in the sorted diameter sequence are numbered sequentially, starting from 1. The candidate puncture image with the largest diameter is numbered 1, the second largest diameter is numbered 2, and so on. This numbering (diameter numbering) reflects the relative superiority or inferiority of each candidate puncture image in terms of vein diameter.

[0121] The diameter sequence refers to the sequence obtained by arranging the candidate puncture images in descending order according to the vein diameter, and the diameter number refers to the number corresponding to each candidate puncture image in the diameter sequence.

[0122] S323, Based on the sum of the depth number and the diameter number of each candidate puncture image, a screening number is obtained, and the candidate puncture image with the smallest screening number is selected as the puncture guidance image.

[0123] Specifically, for each candidate puncture image, its depth number and diameter number are added together to obtain a comprehensive screening number. This screening number takes into account two key factors: vein depth and vein diameter. The smaller the value, the better the overall performance of the candidate puncture image in both depth and diameter dimensions. For example, if a candidate puncture image has a depth number of 3 and a diameter number of 2, then its screening number is 5. Among all the screening numbers of candidate puncture images, the candidate puncture image with the smallest value is selected as the puncture guidance image. The vein corresponding to this puncture guidance image achieves the best balance in terms of depth and diameter, which can reduce tissue damage along the puncture path and improve the success rate and safety of the puncture operation, thus providing the most ideal image guidance for actual venous puncture operations.

[0124] The screening number refers to the sum of the depth number and the diameter number corresponding to the candidate puncture image.

[0125] The above-described implementation methods can reduce tissue damage along the puncture path, improve the success rate and safety of puncture procedures, and provide the most ideal image guidance for actual venous puncture procedures.

[0126] S33, determine the indwelling length of the indwelling device, divide the qualified veins in the puncture guidance diagram based on the indwelling length and the proximal direction to obtain the puncture vein and the indwelling vein, and determine the puncture point at the puncture vein.

[0127] Specifically, the required indwelling length can be determined based on the type of indwelling device to be used (such as a standard intravenous catheter or a central venous catheter) and in conjunction with clinical guidelines. For example, peripheral intravenous catheters typically require an indwelling length of 3-5 cm, while central venous catheters require 10-15 cm. This ensures the catheter is securely placed within the blood vessel without obstructing blood flow. The puncture guidance diagram should clearly indicate the proximal direction of the qualified vein, i.e., the direction of blood flow towards the heart. This direction is determined based on the physiological characteristics of human blood vessels, ensuring that the puncture and placement procedures follow blood flow and reducing the risk of backflow and thrombosis. For example, in arm vein puncture, the proximal direction is usually from the wrist towards the shoulder, using the indwelling length as a reference. Starting from the distal end (the end furthest from the heart) of a qualified vein, divide the vein into two segments at a point where the indwelling length is sufficient. The segment closer to the heart is designated as the "puncture vein," which is the path for the puncture needle to enter the blood vessel from the skin. The segment closer to the heart is designated as the "indwelling vein," used to accommodate the indwelling device. During the division process, it is necessary to ensure that the length of the indwelling vein is sufficient to accommodate the indwelling device, with a certain safety margin. At the same time, it is necessary to ensure that the path of the puncture vein is clear, without obvious bends or narrowing, to facilitate the puncture operation. Analyze the puncture vein segments, and prioritize the selection of relatively large-diameter blood vessels as puncture candidate points to improve the puncture success rate and reduce complications.

[0128] Among them, indwelling device refers to a medical device that is implanted in the human blood vessel and left in place for a long time, used in scenarios such as continuous intravenous infusion and hemodialysis. Indwelling length refers to the length of the indwelling part of the device in the blood vessel. Proximal direction refers to the direction of venous blood flow back to the heart, which is the reference direction of the implantation path of the indwelling device. Puncture vein refers to the venous segment that can be punctured when the puncture needle enters the blood vessel from the skin. Indwelling vein refers to the blood vessel segment that accommodates the indwelling device.

[0129] In some embodiments, step S33, "dividing the qualified veins in the puncture guidance diagram based on the indwelling length and proximal direction to obtain the puncture vein and the indwelling vein, and determining the puncture point at the puncture vein," includes the following steps:

[0130] S331, the puncture length is obtained based on the difference between the vein length of the qualified vein in the puncture guidance diagram and the indwelling length.

[0131] Specifically, the length of a qualified vein can be obtained from the puncture guidance diagram, i.e., the vein length. The puncture length can be obtained by calculating the difference between the vein length and the indwelling length corresponding to the indwelling device. Here, vein length refers to the length of a qualified vein, and puncture length refers to the length of the punctured vein.

[0132] S332, based on the proximal direction, the endpoints of the qualified vein are sequentially determined as the starting endpoint and the ending endpoint, and the position point on the qualified vein at the puncture length from the starting endpoint is determined as the first dividing point.

[0133] Specifically, along the proximal direction, the two ends of a qualified vein can be designated as the starting and ending points, respectively. That is, the end furthest from the heart is set as the starting point, and the end closest to the heart is set as the ending point. This determines the directional reference of the vein. Starting from the starting point, measure along the qualified vein towards the ending point, and determine the first dividing point at a distance equal to the puncture length from the starting point. This point is a key landmark for distinguishing between punctured veins and indwelling veins. Its precise positioning ensures the accuracy of subsequent vein segment division. For example, if the puncture length is calculated to be 2cm, then mark the first dividing point 2cm from the starting point along the vein direction.

[0134] The starting point refers to the end point of a qualified vein that is far from the heart, the ending point refers to the end point of a qualified vein that is close to the heart, and the first dividing point refers to the location point that divides a qualified vein into a puncture vein and an indwelling vein.

[0135] S333, the vein segment located between the starting point and the first dividing point on the qualified vein is identified as the puncture vein, and the vein segment located between the first dividing point and the ending point is identified as the indwelling vein.

[0136] Specifically, the venous segment located between the starting endpoint and the first dividing point is defined as the puncture vein, and the venous segment between the first dividing point and the ending endpoint can be identified as the indwelling vein, which is used to accommodate the indwelling device.

[0137] See Figure 2 This is a schematic diagram illustrating how a qualified vein is divided into a puncture vein and an indwelling vein, as provided in an embodiment of the present invention. Figure 2 As shown, in the proximal direction, the lower end of a qualified vein can be determined as the starting end, the upper end as the ending end, and the point at which the distance from the starting end is equal to the puncture length is determined as the first dividing point. The vein segment between the starting end and the first dividing point is the punctured vein, and the vein segment between the first dividing point and the ending end is the indwelling vein.

[0138] S334, Obtain the vein depth corresponding to the qualified vein. If the vein depth is less than the depth threshold, determine that the qualified vein is a superficial vein, and determine the puncture point at the puncture vein of the superficial vein.

[0139] Specifically, the depth of a qualified vein can be obtained, and this depth can be compared with a pre-set depth threshold. If the vein depth is less than the threshold, the qualified vein is determined to be a superficial vein, and the puncture point can be determined at the puncture site of the superficial vein. The depth threshold is a pre-set critical value for vein depth used to distinguish between superficial and deep veins; superficial veins are qualified veins with a depth less than the depth threshold.

[0140] In some embodiments, step S334, "if the vein depth is less than a depth threshold, determine that the qualified vein is a superficial vein, and determine the puncture point at the puncture site of the superficial vein," includes the following steps:

[0141] S3341, If ​​the vein depth is less than the depth threshold, the qualified vein is determined to be a superficial vein.

[0142] Specifically, if the depth of a qualified vein is less than the depth threshold, then the qualified vein can be identified as a superficial vein.

[0143] S3342, Select any point in the superficial vein where the puncture vein is located as the puncture point.

[0144] Specifically, among the identified superficial veins, any point located at the puncture vein can be selected as the puncture point.

[0145] S335, if the vein depth is greater than or equal to the depth threshold, the qualified vein is determined to be a deep vein, and the puncture point is determined at the puncture vein of the deep vein.

[0146] Specifically, if the vein depth is greater than or equal to the depth threshold, the vein is determined to be a deep vein. Due to its deep location and complex surrounding tissue structure, deep veins are relatively difficult and risky to puncture, and the puncture point needs to be determined more carefully at the puncture site.

[0147] In some embodiments, step S335 may be implemented as follows:

[0148] S3351, if the vein depth is greater than or equal to the depth threshold, the qualified vein is determined to be a deep vein.

[0149] Specifically, if the depth of a qualified vein is greater than or equal to the depth threshold, then the qualified vein can be identified as a deep vein.

[0150] S3352, Determine that there is no vascular soft tissue obstructing the puncture vein of the deep vein, and take the point with the largest diameter on the puncture vein of the deep vein as the puncture point.

[0151] Specifically, it's possible to identify whether other vascular soft tissues, such as other superficial veins, fascia, or fat, obstruct the puncture site of the deep vein. If no vascular soft tissue is found to be obstructing the puncture site, the point with the largest diameter on that segment of the vein can be selected as the puncture point. Choosing a location with a larger diameter facilitates smooth needle entry into the blood vessel, increasing the success rate of the puncture. Furthermore, a larger diameter reduces friction between the needle and the vessel wall, lowering the risk of vascular injury and thrombosis. Vascular soft tissue refers to any anatomical structure present along the deep vein puncture path that may physically obstruct or interfere with the puncture procedure.

[0152] S3353, it is determined that there is a puncture vein in the deep vein that is obscured by the soft tissue of the blood vessel, and the vein segment located under the obscuration range of the soft tissue of the blood vessel is the obscured vein.

[0153] Specifically, when ultrasound images reveal a deep vein segment obscured by soft tissue, the extent of obstruction is further determined. The vein segment located within this obstruction is marked as the obstructing vein. Because this portion of the vein is covered by soft tissue, it is difficult to directly observe and manipulate during puncture. Forcing puncture may damage the obstructing tissue or lead to puncture failure; therefore, the obstructing vein needs to be removed in subsequent processing. An obstructing vein refers to a vein segment located within the obstruction area of ​​the soft tissue.

[0154] S3354, Remove the obstructing vein located on the puncture vein to obtain the remaining vein, and determine the point with the largest diameter on the remaining vein as the puncture point.

[0155] In the puncture vein segment, the identified obstructing vein portion is removed from the whole, resulting in the remaining vein segment. This operation aims to eliminate obstructed or unfavorable puncture areas, focusing on the operable vein area. On the remaining vein segment, the point with the largest diameter is selected as the puncture point by measuring the tube diameter, similar to the unobstructed case. Choosing the position with the largest diameter in the remaining vein segment ensures that the puncture needle has sufficient space to enter the blood vessel while avoiding obstructing tissue, maximizing the safety and success rate of the puncture and ensuring a smooth puncture procedure. The remaining vein refers to the portion of the puncture vein remaining after removing obstructing veins.

[0156] The above-described methods can improve the success rate and safety of puncture procedures.

[0157] In practical applications, when the user moves the needle tip of the puncture needle on the arm, the needle tip can be displayed in the area model in real time, so as to accurately determine the puncture point. Alternatively, the puncture point can be located by using features such as moles and joint centers on the arm. The point can then be mapped using infrared light to facilitate puncture by medical staff.

[0158] In some other embodiments, the puncture site can also be determined by the following steps:

[0159] A1. If the qualified vein is a deep vein, the corresponding site model is determined as the first model.

[0160] If the qualified vein is a deep vein, the corresponding site model can be determined as the first model. The first model refers to the site model constructed when the qualified vein is a deep vein.

[0161] A2, obtain the virtual feature points and virtual puncture points in the first model, and perform coordinate processing on the first model to determine the relative positional relationship between the virtual feature points and the virtual puncture points.

[0162] Specifically, points with distinct characteristics can be selected as virtual feature points in the site model, such as the center point of a joint, a mole on the arm, or a wound. These points are easily identifiable at the actual puncture site and can serve as a reference for spatial positioning. Furthermore, on the first model, the optimal puncture point, i.e., the virtual puncture point, can be determined based on clinical needs and vascular conditions. After coordinate processing of the first model, the coordinates of the virtual feature points and the virtual puncture point can be obtained. Thus, by calculating the geometric relationship (such as angle and distance) between the virtual feature points and the virtual puncture point, their relative positional relationship can be established. This relative positional relationship serves as a crucial basis for subsequent actual puncture point positioning. Here, virtual feature points refer to distinctive landmarks selected in the three-dimensional anatomical model, virtual puncture points refer to the optimal puncture location determined on the three-dimensional vein model, and relative positional relationship refers to the spatial geometric relationship between the virtual feature points and the virtual puncture point.

[0163] Based on the above embodiments, the relative positional relationship between the virtual feature point and the virtual puncture point can be determined through the following steps:

[0164] A21, based on the coordinates of the virtual feature points and the virtual puncture points, calculates the direction vector and the positioning distance.

[0165] Specifically, based on the coordinates of the virtual feature point and the virtual puncture point, a direction vector from the virtual feature point to the virtual puncture point is obtained through vector calculation. For example, when the coordinates of the virtual feature point are (x1, y1) and the coordinates of the virtual puncture point are (x2, y2), the corresponding direction vector can be represented as (x2-x1, y2-y1). This direction vector describes the directional information from the virtual feature point to the virtual puncture point. The direction vector has clear direction and length information; it describes the directional relationship between the virtual puncture point and the virtual feature point. Furthermore, the coordinate information can be used to calculate the positioning distance between the virtual feature point and the virtual puncture point using distance formulas (such as distance formulas in three-dimensional space). Here, the direction vector refers to a mathematical quantity describing the spatial direction of the virtual positioning line, including angle and magnitude information.

[0166] A22, determine the positioning angle corresponding to the virtual puncture point based on the direction vector.

[0167] Specifically, based on the obtained direction vector, the positioning angle corresponding to the virtual puncture point can be determined. The positioning angle describes the directional deviation of the virtual puncture point relative to the virtual feature point. By calculating the angle between the direction vector and a specific coordinate axis (such as the X-axis or Y-axis), the positioning angle of the virtual puncture point can be obtained. Similarly, based on the direction vector, the positioning distance between the virtual puncture point and the virtual feature point can be determined. The positioning distance represents the interval between the virtual puncture point and the virtual feature point, and can be determined by calculating the magnitude (i.e., the length of the vector) of the direction vector. Here, the positioning angle refers to the angle between the direction vector of the virtual puncture point relative to the virtual feature point and a specific coordinate axis (such as the X-axis or Y-axis), and the positioning distance refers to the interval between the virtual puncture point and the virtual feature point.

[0168] A23, the relative positional relationship between the virtual puncture point and the virtual feature point is obtained based on the positioning angle and the positioning distance.

[0169] Based on the determined positioning angle and positioning distance, the relative positional relationship between the virtual puncture point and the virtual feature point can be obtained. In the actual puncture operation, the position of the puncture point can be accurately determined based on the relative positional relationship and the actual site feature point corresponding to the virtual feature point found on the patient's body surface. For example, after finding the actual site feature point corresponding to the virtual feature point on the patient's body surface, the specific position of the puncture point relative to the actual site feature point can be determined based on the positioning angle and positioning distance in the relative positional relationship, thereby achieving precise positioning from the virtual model to the actual puncture site.

[0170] A3. Obtain the site feature points on the first site corresponding to the virtual feature points. Based on the relative positional relationship and the site feature points, determine the point on the first site corresponding to the virtual puncture point as the puncture point.

[0171] At the actual limb site to be punctured, i.e., the first site, the corresponding actual site feature point can be found based on the virtual feature point determined in the site model. For example, in the arm site model, if the virtual feature point is the center point of the elbow joint, the position of the center point of the elbow joint can be determined on the actual first site. This position is the corresponding site feature point. Combining the relative positional relationship between the obtained virtual feature point and the virtual puncture point, the point corresponding to the virtual puncture point on the first site is determined as the puncture point, based on the found site feature point. Specifically, according to the angle and distance information in the relative positional relationship, the position of the puncture point is determined from the site feature point according to the corresponding positioning angle and positioning distance. For example, if the positioning angle in the relative positional relationship is 30 degrees with the X-axis and the positioning distance is 2 cm, the puncture point is determined by moving 2 cm from the site feature point in the direction of 30 degrees with the X-axis.

[0172] Among them, the site feature point refers to the location point on the puncture site that corresponds to the virtual feature point.

[0173] A4, the control and positioning device guides the puncture point.

[0174] Specifically, a specialized emitting device can be used to emit a single guiding ray towards the location of a predetermined puncture point. The emitting device can be a laser emitting device or an infrared device, which can project the laser point to the target location with relatively high precision, thereby locating the puncture point. For example, when using a laser emitting device, a laser point can be emitted towards the puncture point, and the puncture location can be more accurately determined based on the emitted laser point.

[0175] The positioning device refers to a device that can be used to generate and emit laser points.

[0176] A5. If the qualified vein is a superficial vein, determine the corresponding part model as the second model, and determine the model segment on the second model corresponding to the punctured vein as the virtual puncture segment.

[0177] When the qualified vein is a superficial vein, the corresponding constructed site model can be determined as the second model. On the second model, the model segment corresponding to the actual puncture vein location can be found and determined as the virtual puncture segment.

[0178] The second model refers to the site model constructed when the qualified vein is a superficial vein, and the virtual puncture segment refers to the model segment in the second model that corresponds to the puncture vein.

[0179] A6, the endpoints of the virtual puncture segment are respectively determined as the first virtual end and the second virtual end, and the second model is processed by coordinate transformation to determine the first positional relationship between the virtual feature point and the first virtual end, and the second positional relationship between the virtual feature point and the second virtual end.

[0180] Specifically, the two endpoints of the virtual puncture segment can be identified and labeled as the first virtual end and the second virtual end. These endpoints have definite positions on the virtual puncture segment and are the basis for determining the actual puncture endpoints. By processing the second model into coordinates, the coordinates of the first virtual end, the second virtual end, and the virtual feature point can be obtained. The relative positional relationship between the virtual feature point and the first virtual end (i.e., the first positional relationship) and the relative positional relationship between the virtual feature point and the second virtual end (i.e., the second positional relationship) can be calculated. The positional relationship includes information such as angle and distance. For example, by using vector calculation methods, the direction vector between the virtual feature point and the endpoint can be calculated, thereby obtaining the angle and distance information and determining the positional relationship.

[0181] Wherein, the first virtual end refers to one of the endpoints of the virtual puncture segment, the second virtual end refers to the other endpoint of the virtual puncture segment besides the first virtual end, the first positional relationship refers to the relative positional relationship between the virtual feature point and the first virtual end, and the second positional relationship refers to the relative positional relationship between the virtual feature point and the second virtual end.

[0182] A7. Based on the first positional relationship and the feature points of the location, the point on the first location corresponding to the first virtual end is determined as the first puncture endpoint.

[0183] Based on the obtained first positional relationship and the feature points determined on the first site, the point corresponding to the first virtual end can be identified as the first puncture endpoint on the first site. Specifically, based on the angle and distance information in the first positional relationship, the position of the first puncture endpoint is determined from the feature points according to the corresponding direction and distance. Here, the first puncture endpoint refers to the actual location point on the puncture site corresponding to the first virtual end.

[0184] A8. Based on the second positional relationship and site feature points, the point on the first site corresponding to the second virtual end is determined as the second puncture endpoint.

[0185] Based on the second positional relationship and the site feature points, the point corresponding to the second virtual end on the first site can be determined as the second puncture endpoint. Similarly, based on the angle and distance information in the second positional relationship, the position of the second puncture endpoint is determined starting from the site feature points. Here, the second puncture endpoint refers to the actual location point on the puncture site corresponding to the second virtual end.

[0186] A9 connects the first puncture endpoint and the second puncture endpoint to obtain a puncture guide line, and controls the positioning device to position the puncture guide line.

[0187] Specifically, a straight line can be drawn by connecting the first and second puncture endpoints. This straight line is the puncture guide line. Any point on the puncture guide line can be selected as the final puncture point. A positioning device can be used to emit continuous laser points onto the puncture guide line for positioning. The puncture guide line refers to the line segment between the first and second puncture endpoints, and any point on the puncture guide line can be used as the final puncture point.

[0188] The above-described methods can more accurately determine the puncture point and improve the success rate of puncture procedures.

[0189] See Figure 3 This is a schematic diagram of an ultrasound-guided puncture system provided in an embodiment of the present invention. The data processing system of the ultrasound-guided puncture system includes:

[0190] The construction module is used to construct a site model corresponding to the puncture site, determine the partition scan lines of the site model, and control the ultrasound device to perform segmented scanning of the puncture site based on the partition scan lines to obtain a segmented scan image.

[0191] The stitching module is used to determine the segmented scan image that meets the puncture conditions as a sub-adaptation image, and to stitch adjacent sub-adaptation images together to obtain a stitched puncture image.

[0192] The determination module is used to determine the vascular morphology of the veins in the spliced ​​puncture diagram to obtain candidate puncture diagrams, select the best candidate puncture diagrams to obtain puncture guidance diagrams, and determine the puncture point of the puncture vein in the puncture guidance diagram based on the proximal direction.

[0193] Figure 3 The apparatus of the illustrated embodiment can be used to perform corresponding actions. Figure 1 The steps in the method embodiments shown are implemented in a similar manner and have similar technical effects, and will not be repeated here.

[0194] See Figure 4 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. The electronic device 40 includes: a processor 41, a memory 42, and a computer program; wherein...

[0195] The memory 42 is used to store the computer program, and the memory may also be flash memory. The computer program is, for example, an application program or functional module that implements the above method.

[0196] The processor 41 is configured to execute the computer program stored in the memory to implement the various steps performed by the device in the above method. For details, please refer to the relevant descriptions in the preceding method embodiments.

[0197] Alternatively, the memory 42 can be either standalone or integrated with the processor 41.

[0198] When the memory 42 is a device independent of the processor 41, the device may further include:

[0199] Bus 43 is used to connect the memory 42 and the processor 41.

[0200] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An ultrasound-guided puncture method, characterized by, include: A site model corresponding to the puncture site is constructed, the partition scan lines of the site model are determined, and the ultrasound device is controlled to perform segmented scanning of the puncture site based on the partition scan lines to obtain a segmented scan image. The segmented scan image that meets the puncture conditions is determined as a sub-fit image, and adjacent sub-fit images are spliced ​​together to obtain a spliced ​​puncture image. The vein morphology of the spliced ​​puncture images is judged to obtain candidate puncture images. The candidate puncture images are then selected to obtain a puncture guidance image. The puncture point of the puncture vein in the puncture guidance image is determined based on the proximal direction. The scan lines of the site model are determined, and the ultrasound equipment is controlled to perform segmented scanning of the puncture site based on the scan lines to obtain a segmented scan image, including: Determine the central axis of the part model, and construct partition perpendicular lines perpendicular to the central axis based on a preset interval distance; The partition vertical lines are intercepted based on the edge contour lines of the part model to obtain the partition scan lines; The shortest partitioned scan line is selected as the reference scan line. Starting from one end of the reference scan line, a dividing line parallel to the central axis is continuously constructed based on the scanning distance of the ultrasound equipment to divide the reference scan line until the remaining distance of the reference scan line is less than or equal to the scanning distance, thus obtaining multiple dividing lines. The partition scan lines are divided according to the dividing lines to obtain multiple sub-scan lines; The ultrasound device is controlled to perform segmented scanning of the puncture site at the sub-scanning line based on a preset scanning group, so as to obtain a segmented scanning image corresponding to each sub-scanning line. The preset scanning group includes a preset height, a preset direction, and a preset angle.

2. The method according to claim 1, characterized in that, The segmented scan image that meets the puncture conditions is used as a sub-fit image. Adjacent sub-fit images are stitched together to obtain a stitched puncture image, including: When it is determined that the diameter of the scanned vein in the segmented scan image is greater than the puncture diameter threshold, the corresponding scanned vein is taken as the adapter vein, and the segmented scan image in which the adapter vein is located is determined as the sub-adaptation image. The adjacent sub-adaptation maps are spliced ​​together to obtain the spliced ​​puncture map.

3. The method according to claim 2, characterized in that, The process of determining the vascular morphology of veins in the spliced ​​puncture images to obtain candidate puncture images, selecting the best candidate puncture images to obtain puncture guidance images, and determining the puncture point of the puncture vein in the puncture guidance images based on the proximal direction includes: The vessel length of the matching vein in the spliced ​​puncture image is determined to obtain the initial screening puncture image, and the vessel continuity of the matching vein in the initial screening puncture image is determined to obtain the candidate puncture image. The vein depth and vein diameter of the matching vein in the candidate puncture image are obtained, and the candidate puncture images are selected based on the vein depth and vein diameter to obtain the puncture guidance image. The indwelling length of the indwelling device is determined, and the qualified veins in the puncture guidance diagram are divided based on the indwelling length and the proximal direction to obtain the puncture vein and the indwelling vein. The puncture point is determined at the puncture vein.

4. The method according to claim 3, characterized in that, The process of determining the vessel length of veins in the spliced ​​puncture images to obtain preliminary screening puncture images, and determining the vessel continuity of matching veins in the preliminary screening puncture images to obtain candidate puncture images, includes: The number of stitches in the sub-fitting map of the stitched puncture map is obtained. When the number of stitches is greater than or equal to the preset number of stitches, the corresponding stitched puncture map is used as the initial screening puncture map. The common edge of the sub-fitting image spliced ​​in the initial screening puncture image and the vein pixel corresponding to the fitting vein are determined as the fitting pixel. The adjacent matching pixels in the initial screening puncture image are statistically analyzed to obtain multiple matching pixel sets. Each matching pixel set is then identified to obtain the spliced ​​vein corresponding to the matching pixel set. When the spliced ​​vein passes through all common edges, the corresponding spliced ​​vein is considered a qualified vein, and the corresponding initial screening puncture image is considered a candidate puncture image.

5. The method according to claim 3, characterized in that, The step of selecting the best candidate puncture diagrams based on the vein depth and vein diameter to obtain a puncture guidance diagram includes: Candidate puncture images are sorted in ascending order based on vein depth to obtain a depth sequence, and the candidate puncture images in the depth sequence are numbered to obtain the depth number of each candidate puncture image. Candidate puncture images are sorted in descending order according to vein diameter to obtain a diameter sequence, and the candidate puncture images in the diameter sequence are numbered to obtain the diameter number of each candidate puncture image; Based on the sum of the depth number and the diameter number of each candidate puncture image, a screening number is obtained, and the candidate puncture image with the smallest screening number is selected as the puncture guidance image.

6. The method according to claim 3, characterized in that, The process of dividing the qualified veins in the puncture guidance diagram based on the indwelling length and proximal direction to obtain the puncture vein and the indwelling vein, and determining the puncture point at the puncture vein, includes: The puncture length is obtained based on the difference between the length of the qualified vein in the puncture guidance diagram and the indwelling length. Based on the proximal direction, the endpoints of the qualified vein are sequentially determined as the starting endpoint and the ending endpoint, and the position point on the qualified vein at the puncture length from the starting endpoint is determined as the first dividing point; The vein segment located between the starting point and the first dividing point on a qualified vein is identified as the puncture vein, and the vein segment located between the first dividing point and the ending point is identified as the indwelling vein. Obtain the vein depth corresponding to the qualified vein. If the vein depth is less than the depth threshold, determine that the qualified vein is a superficial vein. Determine the puncture point at the puncture vein of the superficial vein. If the vein depth is greater than or equal to the depth threshold, the qualified vein is determined to be a deep vein, and the puncture point is determined at the puncture site of the deep vein.

7. The method of claim 6, wherein, If the vein depth is less than a depth threshold, the qualified vein is determined to be a superficial vein. The puncture point is then determined at the puncture site of the superficial vein, including: If the vein depth is less than the depth threshold, the qualified vein is determined to be a superficial vein; Select any point in the superficial vein where the vein is punctured as the puncture point.

8. The method of claim 6, wherein, If the vein depth is greater than or equal to a depth threshold, the qualified vein is determined to be a deep vein, and the puncture point is determined at the puncture site of the deep vein, including: If the vein depth is greater than or equal to the depth threshold, the qualified vein is determined to be a deep vein; Once it is determined that there is no vascular soft tissue obstructing the puncture vein of the deep vein, the point with the largest diameter on the puncture vein of the deep vein is taken as the puncture point; Once it is determined that there is a puncture vein that is obscured by the soft tissue of the blood vessel, the vein segment located under the obscuration range of the soft tissue of the blood vessel is identified as the obscured vein. Remove the obstructing veins located on the puncture vein to obtain the remaining veins, and determine the point with the largest diameter on the remaining veins as the puncture point.

9. An ultrasound-guided puncture system implementing the method of any one of claims 1-8, characterized in that, include: The construction module is used to construct a site model corresponding to the puncture site, determine the partition scan lines of the site model, and control the ultrasound device to perform segmented scanning of the puncture site based on the partition scan lines to obtain a segmented scan image. The stitching module is used to determine the segmented scan image that meets the puncture conditions as a sub-adaptation image, and to stitch adjacent sub-adaptation images together to obtain a stitched puncture image. The determination module is used to determine the vascular morphology of the veins in the spliced ​​puncture diagram to obtain candidate puncture diagrams, select the best candidate puncture diagrams to obtain puncture guidance diagrams, and determine the puncture point of the puncture vein in the puncture guidance diagram based on the proximal direction.

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