Ultrasonic imaging equipment and guiding method for endoscope ultrasonic puncture

Abstract

The invention provides ultrasonic imaging equipment and a guiding method for endoscopic ultrasonic puncture. The method comprises the steps that the pose of an ultrasonic probe and the pose of an intervention device are obtained; according to the pose of the ultrasonic probe and the position of the probe puncture hole in the ultrasonic probe, the spatial position and orientation of a puncture reference line located in an ultrasonic imaging plane are determined; the puncture reference line or the extension line thereof passes through the probe puncture hole, and the puncture reference line is used for guiding the intervention device to pass through the probe puncture hole. Determining the spatial position and orientation of a puncture direction guide line according to the pose of the intervention device; the puncture direction guide line is used for indicating the orientation of the intervention device. And generating and displaying a guide image according to the spatial positions and orientations of the puncture reference line and the puncture direction guide line. In this way, a user can see the spatial position relation and orientation between the puncture reference line and the puncture direction guide line according to the guide image, accurate puncture can be achieved only by operating the intervention device to enable the puncture direction guide line to coincide with the puncture reference line, and the operation is very convenient and rapid.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to an ultrasonic imaging device and a guiding method for laparoscopic ultrasonic puncture. Background Art

[0002] With the development of minimally invasive surgical techniques, especially laparoscopic surgical techniques, laparoscopic surgical techniques have been increasingly used to treat many abdominal organ diseases. During laparoscopic surgical treatment of abdominal organ diseases, including liver cancer, puncture procedures are often involved, such as puncture biopsy, puncture ablation, portal vein puncture, and other operations. Because such puncture procedures need to reach below the surface of the organ and need to pass through the organ tissue to reach the target, laparoscopic ultrasound (LUS) is often required. Because LUS can help doctors see structures below the surface and perform palpation, it is an excellent auxiliary guidance image paradigm in laparoscopic surgery.

[0003] During the operation, in order to ensure the accuracy and safety of the puncture, the doctor needs to follow the guidance of the laparoscopic (optical) image and the laparoscopic ultrasound image, from the body surface through the abdominal wall, through the organ surface to the puncture target position. During this process, the doctor can use LUS to locate the puncture target below the organ surface, and track the position and posture of the interventional device inserted into the human body in real time to ensure the safety of the puncture process and the accuracy of the puncture direction. Among them, in order to accurately obtain relevant information such as the puncture direction, arrival position and positional relationship between the interventional device and the puncture target below the organ surface (such as the liver surface), the doctor often chooses an in-plane puncture method, that is, to keep the interventional device entry and puncture direction coplanar with the LUS ultrasound imaging plane, so that the interventional device is always visible in the ultrasound image after passing through the organ surface, which can further ensure the accuracy and safety of the puncture. However, in the above process, since the doctor cannot directly see the liver surface and the position of the laparoscopic ultrasound LUS probe through the abdominal wall, it requires a strong spatial imagination ability to complete the operation, and it is not easy to select a suitable puncture needle insertion site and puncture path from the body surface to accurately reach the puncture target position. When out-of-plane puncture is used, that is, the entry path and puncture direction of the interventional device are not coplanar with the LUS ultrasound imaging plane, this needle insertion method has a higher degree of freedom and more available puncture paths. However, since the puncture path is not located in the ultrasound imaging plane after entering the organ tissue, the operator cannot accurately know which structures the interventional device has passed through, and cannot obtain the current needle tip position and puncture direction of the interventional device in real time.

[0004] For laparoscopic puncture operations, major institutions and companies have conducted research and developed solutions for equipment, instruments, and surgical methods. In some existing technologies, a puncture hole and channel structure for positioning and limiting the interventional device is designed on the laparoscopic ultrasound LUS probe device, and a light source emitting in the same direction is designed next to the puncture hole. After the doctor operates the LUS probe to locate the puncture target position, the light source is turned on to emit a light beam, which is irradiated upward to the abdominal wall to form a light spot. Based on the location of the light spot, the doctor can select a suitable puncture needle insertion site and guide the interventional device through the abdominal wall to the puncture hole on the ultrasound probe that is coplanar with the ultrasound imaging plane, completing the in-plane puncture. Although the light spot can better indicate the puncture needle insertion point, it cannot provide effective guidance for the needle insertion direction. In addition, due to the certain thickness of the abdominal wall, the interventional device has a small adjustable angle after passing through the abdominal wall. If the puncture direction is not operated accurately, the needle may not be inserted into the probe puncture hole, or the interventional device may be excessively bent or even broken.

[0005] Therefore, the existing puncture operation still lacks more accurate puncture guidance. Summary of the Invention

[0006] The present invention mainly provides an ultrasonic imaging device and a guiding method for laparoscopic ultrasonic puncture, aiming to provide puncture guidance to users and improve the accuracy of puncture.

[0007] One embodiment provides a guidance method for laparoscopic ultrasonic puncture, comprising:

[0008] The position of the laparoscopic ultrasound probe and the position of the interventional device are acquired in real time; the end of the laparoscopic ultrasound probe is used to enter the human body through a surgical incision to perform ultrasonic scanning of target tissues inside the human body; the end of the laparoscopic ultrasound probe has a probe puncture hole, and the probe puncture hole is used to allow the interventional device to pass through to limit the position of the interventional device entering from the human body surface; wherein the initial position of the laparoscopic ultrasound probe includes a spatial position inside the human body;

[0009] Determining the spatial position and orientation of at least one puncture reference line within the ultrasound imaging plane based on the posture of the laparoscopic ultrasound probe and the position of the probe puncture hole on the laparoscopic ultrasound probe; the puncture reference line or an extension of the puncture reference line passes through the probe puncture hole, and the puncture reference line is used to guide an interventional device through the probe puncture hole;

[0010] Determine the spatial position and orientation of a puncture direction guide line according to the posture of the interventional device; the puncture direction guide line is used to indicate the orientation of the interventional device;

[0011] A guidance image is generated and displayed based at least on the spatial position and orientation of the puncture reference line and the spatial position and orientation of the puncture direction guide line; the guidance image includes: a puncture reference line and a puncture direction guide line; wherein the positional relationship and orientation of the puncture reference line and the puncture direction guide line on the guidance image reflect the spatial positional relationship and orientation of the puncture reference line and the puncture direction guide line.

[0012] One embodiment provides an ultrasonic puncture guidance method, comprising:

[0013] Obtaining the posture of the ultrasound probe and the spatial position of the puncture guide device;

[0014] Determining the spatial position and orientation of at least one puncture reference line within the ultrasound imaging plane based on the posture of the ultrasound probe and the position of the probe puncture hole on the ultrasound probe; the puncture reference line or an extension of the puncture reference line passes through the probe puncture hole, and the puncture reference line is used to guide the interventional device to pass through the probe puncture hole;

[0015] According to the spatial position of the puncture guide device and the puncture reference line, information for presenting the relative positional relationship between the puncture guide device and the puncture reference line is output.

[0016] One embodiment provides an ultrasonic puncture guidance method, comprising:

[0017] Obtaining the position of the ultrasound probe and the position of the interventional device;

[0018] Determining the spatial position and orientation of at least one puncture reference line within the ultrasound imaging plane based on the posture of the ultrasound probe and the position of the probe puncture hole on the ultrasound probe; the puncture reference line or an extension of the puncture reference line passes through the probe puncture hole, and the puncture reference line is used to guide the interventional device to pass through the probe puncture hole;

[0019] Determine the spatial position and orientation of a puncture direction guide line according to the posture of the interventional device; the puncture direction guide line is used to indicate the orientation of the interventional device;

[0020] A guidance image is generated and displayed based at least on the spatial position and orientation of the puncture reference line and the spatial position and orientation of the puncture direction guide line; the guidance image includes: a puncture reference line and a puncture direction guide line; wherein the positional relationship and orientation of the puncture reference line and the puncture direction guide line on the guidance image reflect the spatial positional relationship and orientation of the puncture reference line and the puncture direction guide line.

[0021] One embodiment provides an ultrasonic imaging device, including:

[0022] Memory, used to store programs;

[0023] The processor is configured to execute the program to implement the method described above.

[0024] One embodiment provides a computer-readable storage medium having a program stored thereon. The program can be executed by a processor to implement the method described above.

[0025] According to the ultrasonic imaging device and the guidance method for laparoscopic ultrasonic puncture of the above-mentioned embodiment, the position of the ultrasonic probe and the position of the interventional device are obtained; then, based on the position of the ultrasonic probe and the position of the probe puncture hole on the ultrasonic probe, the spatial position and orientation of at least one puncture reference line located in the ultrasonic imaging plane are determined; the puncture reference line or its extension passes through the probe puncture hole, and the puncture reference line is used to guide the interventional device to pass through the probe puncture hole. The spatial position and orientation of the puncture direction guide line are determined based on the position of the interventional device; the puncture direction guide line is used to indicate the orientation of the interventional device. A guidance image is generated and displayed based on the spatial position and orientation of the puncture reference line and the puncture direction guide line. In this way, the user can see the spatial position relationship and orientation between the puncture reference line and the puncture direction guide line based on the guidance image. The user only needs to operate the interventional device to make the puncture direction guide line coincide with the puncture reference line to achieve precise puncture, which is very convenient and quick. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a structural block diagram of an embodiment of a puncture guidance system provided by the present invention;

[0027] Figure 2 A structural block diagram of an embodiment of an ultrasonic imaging device provided by the present invention;

[0028] Figure 3 A schematic diagram of an embodiment of a puncture guide system provided by the present invention;

[0029] Figure 4 Schematic diagram of the interventional device inserted from the body surface;

[0030] Figure 5 A flowchart of an embodiment of a puncture guidance method provided by the present invention;

[0031] Figure 6 A schematic diagram of an embodiment of a display interface displaying function buttons and an ultrasonic image in the ultrasonic imaging device provided by the present invention;

[0032] Figure 7 A schematic diagram of an embodiment of a display interface displaying a function menu and an ultrasonic image in the ultrasonic imaging device provided by the present invention;

[0033] Figure 8A schematic diagram of an embodiment of a three-dimensional guided image in the ultrasonic imaging device provided by the present invention;

[0034] Figure 9 A schematic diagram of another embodiment of a three-dimensional guided image in the ultrasonic imaging device provided by the present invention;

[0035] Figure 10 A schematic diagram of an embodiment of a display interface displaying a two-dimensional guide image and a three-dimensional guide image in the ultrasonic imaging device provided by the present invention;

[0036] Figure 11 A schematic diagram of an embodiment of a display interface displaying a function menu and an ultrasonic image in the ultrasonic imaging device provided by the present invention;

[0037] Figure 12 A schematic diagram of an embodiment of determining a target area on a display interface in the ultrasonic imaging device provided by the present invention;

[0038] Figure 13 A schematic diagram of the ultrasonic imaging device provided by the present invention, in which a two-dimensional guide image is superimposed and displayed on an ultrasonic image. DETAILED DESCRIPTION

[0039] The present invention will be further described in detail below by means of specific embodiments in conjunction with the accompanying drawings. Similar elements in different embodiments are numbered with associated similar elements. In the following embodiments, many detailed descriptions are provided to enable the present application to be better understood. However, those skilled in the art will readily appreciate that some of the features may be omitted in different circumstances, or may be replaced by other elements, materials, or methods. In some cases, some operations related to the present application are not shown or described in the specification. This is to avoid the core portion of the present application being overwhelmed by excessive descriptions, and for those skilled in the art, it is not necessary to describe these related operations in detail. They will fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0040] In addition, the features, operations, or characteristics described in the specification may be combined in any appropriate manner to form various embodiments. Furthermore, the steps or actions in the method description may be reordered or adjusted in a manner readily apparent to those skilled in the art. Therefore, the various sequences in the specification and drawings are provided solely for the purpose of clearly describing a particular embodiment and are not intended to be mandatory, unless otherwise specified.

[0041] The serial numbers assigned to components herein, such as "first," "second," etc., are used solely to distinguish the objects being described and do not convey any sequential or technical meaning. References to "connection" and "coupling" herein, unless otherwise specified, include both direct and indirect connections (couplings).

[0042] The present invention utilizes a spatial positioning device to track and locate the laparoscopic ultrasound probe and the interventional device respectively, thereby obtaining their relative positional relationship and posture relationship. Then, based on the position of the probe puncture hole on the ultrasound probe, the posture of the ultrasound probe and the interventional device, a puncture reference line is generated to guide the user to puncture the probe puncture hole. Based on the ultrasound image and the posture information detected by the spatial positioning device, the operator can also mark the puncture target position in space, let the puncture reference line also pass through the position of the puncture target, and continue to provide guidance for the interventional device to puncture the puncture target, thereby accurately completing the LUS-guided in-plane puncture operation. The following is a detailed description through some embodiments.

[0043] Herein, the interventional device may be a variety of devices suitable for insertion into tissues, such as a puncture needle, an ablation needle, a biopsy needle, and the like.

[0044] The present invention provides a puncture guide system, such as Figure 1 As shown, it includes ultrasonic imaging equipment and spatial positioning device 20. Figure 2 As shown, the ultrasound imaging device may include an ultrasound probe 10 , a transmitting circuit 610 , a receiving circuit 620 , a processor 30 , a human-computer interaction device 50 , and a memory 40 .

[0045] The ultrasound probe 10 can be a probe suitable for various laparoscopic surgeries and can be inserted into the human body, such as various laparoscopic (e.g., laparoscope, thoracoscope, hysteroscope, etc.) ultrasound probes. In this embodiment, the end of the ultrasound probe 10 is used to perform an ultrasonic scan of the target tissue after entering the human body, such as performing an ultrasonic scan of the target tissue after entering the human body through a surgical incision (e.g., a minimally invasive surgery incision). The end of the ultrasound probe 10 is provided with a probe puncture hole for the passage of an interventional device. The probe puncture hole is used to allow the interventional device to pass through to limit the position of the interventional device entering from the human body surface. The interventional device passes through the probe puncture hole for puncture, which makes it easy for the interventional device to puncture within the ultrasound imaging plane. That is, the interventional device passing through the probe puncture hole can be or is easily limited to the plane / section where the ultrasound image is located, thereby meeting the needs of in-plane puncture. The ultrasound probe 10 may include a transducer (not shown in the figure) composed of multiple array elements arranged in an array. The array elements are used to transmit ultrasonic waves based on the excitation electrical signal, or to convert received ultrasonic waves into electrical signals. Therefore, each array element can be used to realize the mutual conversion between electrical pulse signals and ultrasonic waves, thereby transmitting ultrasonic waves to the target tissue, and can also be used to receive the echo of ultrasonic waves reflected back by the tissue.

[0046] The transmitting circuit 610 is used to control the ultrasound probe 10 to transmit ultrasound waves. For example, according to the control of the processor 30 , the ultrasound probe 10 is stimulated to transmit ultrasound waves toward the target object.

[0047] The receiving circuit 620 is used to control the ultrasound probe 10 to receive ultrasonic echoes. For example, the ultrasound probe 10 receives ultrasonic echoes returned from a target object to obtain ultrasonic echo signals. The receiving circuit 620 may also process the ultrasonic echo signals. The receiving circuit 620 may include one or more amplifiers, analog-to-digital converters (ADCs), and the like.

[0048] The memory 40 is used to store various types of data.

[0049] The ultrasound imaging apparatus may further include a beamforming module 70 and an IQ demodulation module 80 .

[0050] The beamforming module 70 is signal-connected to the receiving circuit 620 and is used to perform beamforming processing, such as delay and weighted summation, on the echo signals. Because the distances between the ultrasound receiving points in the measured tissue and the receiving elements vary, the channel data of the same receiving point output by different receiving elements have different delays. This requires delay processing, phase alignment, and weighted summation of the different channel data from the same receiving point to obtain beamformed ultrasound image data. The ultrasound image data output by the beamforming module 70 is also called radio frequency data (RF data). The beamforming module 70 outputs the RF data to the IQ demodulation module 80. In some embodiments, the beamforming module 70 may also output the RF data to the memory 40 for caching or storage, or directly output the RF data to the processor 30 for image processing.

[0051] The beamforming module 70 can perform the above functions in the form of hardware, firmware or software. The beamforming module 70 can be integrated into the processor 30 or set separately, which is not limited in the present invention.

[0052] The IQ demodulation module 80 removes the signal carrier through IQ demodulation, extracts the tissue structure information contained in the signal, and performs filtering to remove noise. The resulting signal is called a baseband signal (IQ data pair). The IQ demodulation module 80 outputs the IQ data pair to the processor 30 for image processing. In some embodiments, the IQ demodulation module 80 also outputs the IQ data pair to the memory 40 for caching or storage, so that the processor 30 can read the data from the memory 40 for subsequent image processing.

[0053] The IQ demodulation module 80 may also be implemented in hardware, firmware, or software to perform the above functions. Similarly, the IQ demodulation module 80 may be integrated into the processor 30 or may be independently configured, which is not limited in the present invention.

[0054] The human-computer interaction device 50 is used for human-computer interaction, such as outputting visual information and receiving user input. The human-computer interaction device 50 includes an input device and at least one display. The input device is used to receive user input and can be a keyboard, operating buttons, mouse, trackball, touchpad, etc., or a touch screen integrated with the display.

[0055] The processor 30 is configured to be a central control circuit (CPU), one or more microprocessors, a graphics controller circuit (GPU) or any other electronic component that can process input data according to specific logical instructions. It can control peripheral electronic components according to input instructions or predetermined instructions, or read and / or save data from the memory 40. It can also process the input data by executing the program in the memory 40, for example, performing one or more processing operations on the collected ultrasound data according to one or more working modes. The processing operations include but are not limited to adjusting or limiting the form of ultrasound waves emitted by the ultrasound probe 10, generating various image frames for subsequent display on the display of the human-computer interaction device 50, or adjusting or limiting the content and form displayed on the display, or adjusting one or more image display settings displayed on the display (such as ultrasound images, interface components, and positioning areas of interest).

[0056] As echo signals are received, the acquired ultrasound data may be processed by the processor 30 in real time during scanning, or may be temporarily stored on the memory 40 and processed in quasi-real time in either online or offline operation.

[0057] In this embodiment, the processor 30 controls the operation of the transmitting circuit 610 and the receiving circuit 620, for example, controlling the transmitting circuit 610 and the receiving circuit 620 to operate alternately or simultaneously. The processor 30 may also determine an appropriate operating mode, such as B-image mode, C-image mode, and D-image mode (Doppler mode), based on a user's selection or program settings, form a transmission sequence corresponding to the current operating mode, and send the transmission sequence to the transmitting circuit 610, so that the transmitting circuit 610 uses the appropriate transmission sequence to control the ultrasound probe 10 to transmit ultrasound waves.

[0058] The processor 30 is also used to process the ultrasound data to generate a grayscale image showing the signal strength changes within the scanning range. The grayscale image reflects the internal anatomical structure of the tissue, which is called a B image. The processor 30 can output the B image to the display of the human-computer interaction device 50 for display.

[0059] The ultrasound imaging device may also include a communication module. The processor 30 communicates with the spatial positioning device 20 via the communication module. In some embodiments, the ultrasound imaging device may also communicate with a laparoscopic system (e.g., a laparoscopic system) via the communication module. Under the control of the user and the processor 30, the ultrasound imaging device can perform various functions of the ultrasound imaging device.

[0060] The spatial positioning device 20 can use conventional navigation equipment, such as magnetic navigation equipment, optical positioning tracking equipment, etc. Figure 3 As shown, the spatial positioning device 20 includes: a first navigation sensor 210 for installation on the ultrasound probe 10, a second navigation sensor 220, and a navigation device body 230. The second navigation sensor 220 can be installed on the interventional device or on the puncture guide 910, and in any case, it can detect the spatial position and posture (orientation) of the interventional device. The navigation device body 230 is used to process the data from the first navigation sensor 210 to obtain the position (spatial position and posture) of the ultrasound probe 10, and to process the data from the second navigation sensor 220 to obtain the position (spatial position and posture) of the interventional device.

[0061] Herein, the puncture guiding device may be a variety of suitable devices, for example, a puncture needle navigation clamping device, an interventional device with a built-in sensor, a puncture aimer, a small base on the body surface, and the like.

[0062] In this embodiment, the laparoscope system is taken as an example, which includes a laparoscope 950 and a display device 960 . The video images collected by the laparoscope 950 are displayed on the display device 960 .

[0063] The interventional device is usually used in conjunction with a puncture guide device (also called an interventional device clamp) 910.

[0064] by Figure 3Taking the laparoscopic ultrasound (LUS) puncture usage scenario shown as an example, the ultrasound imaging device is the main part of the laparoscopic ultrasound (LUS) puncture guidance system. During the laparoscopic surgery, after the pneumoperitoneum is established, the ultrasound imaging device is responsible for real-time acquisition and generation of laparoscopic ultrasound images. Specifically, the user places the LUS probe (ultrasound probe 10) through the abdominal wall perforation on the surface of the abdominal organ, and the ultrasound probe 10 acquires the ultrasound image. A first navigation sensor 210 is fixed on the ultrasound probe 10. At the same time, the intervention device is also fixed to the puncture guidance device 910. The intervention device or the puncture guidance device 910 is also equipped with a navigation sensor (220). Each navigation sensor and the navigation device body 230 together constitute a navigation system, which is responsible for providing real-time three-dimensional spatial position information and posture information of the ultrasound probe 10. The laparoscope (optical) system is the main imaging system for laparoscopic surgery. It obtains video information through the optical lens 950 inserted into the patient's abdominal cavity, and directly presents the intraoperative image of the laparoscopic surgery operation area and the target organ on the display device 960. Ultrasonic imaging equipment can serve as an auxiliary system in laparoscopic surgery equipment, providing doctors with intraoperative palpation information and ultrasonic image information below the organ surface. It can also generate guidance images for puncture guidance based on the positioning information of the ultrasound probe 10 and interventional device provided by the navigation equipment (210-230), thereby improving surgical safety and accuracy. From the doctor's perspective, with the help of the navigation equipment, the doctor can obtain the spatial position and posture of the LUS probe and the two-dimensional ultrasound image section through the first navigation sensor 210, thereby obtaining the spatial position of the puncture target (target area) within the ultrasound imaging plane, or perform three-dimensional reconstruction of vascular structures in the abdominal cavity, including but not limited to, through three-dimensional scanning. The spatial position and posture of the interventional device can also be obtained through the second navigation sensor 220, thereby obtaining information on the puncture direction of the interventional device. Based on the spatial position and posture of the LUS probe, the spatial position of the puncture target, and the spatial position and posture of the interventional device obtained by the navigation system, they are transmitted to the ultrasound imaging equipment, and puncture guidance information (such as the puncture guidance area, etc.) can be calculated and displayed. Combined with the video information obtained by the laparoscope (optical) system, the doctor can select the appropriate puncture needle position on the patient's body surface and choose the appropriate puncture needle direction to accurately complete the LUS-guided puncture operation.

[0065] There are usually two types of ultrasonic puncture methods at present: in-plane puncture and out-of-plane puncture. In-plane puncture is when the interventional device performs puncture in the plane where the ultrasonic image is located. Out-of-plane puncture is when the interventional device forms a certain angle with the plane where the ultrasonic image is located for puncture. Different puncture methods have different corresponding spatial constraint information. The spatial constraint information corresponding to the in-plane puncture may include the position of the probe puncture hole on the ultrasonic probe, and may also include the size of the probe puncture hole. The model of the ultrasonic probe 10 determines the spatial constraint information, so the spatial constraint information can be preset in the ultrasonic imaging device. After obtaining the posture of the ultrasonic probe 10, the spatial position of the probe puncture hole is obtained according to the spatial position of the ultrasonic probe 10 and the relative position of the ultrasonic probe 10 and the probe puncture hole on the ultrasonic probe. The probe puncture hole is set on the ultrasonic probe 10. As Figure 4 As shown, the interventional device 920 enters the target tissue after passing through the probe puncture hole 120, and can relatively easily perform puncture within the plane where the ultrasound image is located.

[0066] The present invention is mainly used for puncture guidance in the in-plane puncture scenario. Figure 5 As shown, the ultrasound puncture guidance method based on in-plane puncture may include the following steps:

[0067] Step 1: Obtain the posture of the ultrasound probe, the spatial position of the puncture guide device, and the posture of the interventional device. The puncture guide device is used to be placed on the surface of the human body and used in conjunction with the interventional device. It may have a slide rail for the interventional device to move forward and backward, and may also adjust the needle insertion angle of the interventional device. Specifically, the processor 30 obtains the real-time posture of the ultrasound probe 10 and the real-time posture of the interventional device from the spatial positioning device 20. The posture includes spatial position and posture. The posture of the ultrasound probe can be the angle of the ultrasound probe in the spatial coordinate system. Similarly, the posture of the interventional device can be the angle of the interventional device in the spatial coordinate system, that is, the direction of the interventional device.

[0068] Before or after activating the puncture navigation function, the physician can connect the ultrasound imaging device to the spatial positioning device 20 and activate the spatial positioning device 20. Specifically, the first navigation sensor is activated to track and locate the ultrasound probe 10, and the second navigation sensor is activated to track and locate the interventional device. The second navigation sensor can also detect the spatial position of the puncture guide device. The processor 30 can obtain this spatial position from the second navigation sensor 220 and use this spatial position as the position on the human body surface. The first navigation sensor can be built into the ultrasound probe 10. For example, during the manufacture of the ultrasound probe 10, the first navigation sensor is fixed inside the probe and calibrated accordingly. This calibration can yield a mapping matrix Pi. For example, based on the ultrasound probe's orientation information (represented in matrix form), the mapping matrix Pi can be calculated. This mapping matrix Pi can spatially map the coordinate system of the ultrasound image obtained by the ultrasound probe scan to the reference coordinate system used by the spatial positioning device 20. Specifically, it converts the coordinates of each pixel in the ultrasound image to the reference coordinate system used by the spatial positioning device 20, where i represents the current moment. The mapping matrix Pi actually consists of two parts. The first part, mapping matrix A, maps the coordinate space of the ultrasound image scanned by the probe to the first navigation sensor (mapped to the ultrasound probe), that is, to the coordinate space where the first navigation sensor or ultrasound probe is located. The second part is the orientation information Ri of the first navigation sensor in the reference coordinate system currently used by the spatial positioning device 20, that is, Pi = Ri * A. In this way, the position and posture of the ultrasound image, ultrasound probe, and interventional device can all be converted to the same spatial coordinate system (such as the reference coordinate system of the spatial positioning device 20), facilitating various calculations and processing in subsequent steps. This step can be performed in real time. That is, during the laparoscopic ultrasound puncture process, the processor 30 obtains the posture of the ultrasound probe 10 and the posture of the interventional device in real time. The initial posture of the ultrasound probe 10 includes a spatial position inside the human body, that is, the ultrasound probe 10 has already entered the human body before the puncture begins. The initial posture of the interventional device includes a spatial position on the surface of the human body, that is, before the puncture, the interventional device is external to the human body. In this type of laparoscopic puncture scenario, even with the background art method of emitting a light beam from a probe onto the human body surface, doctors cannot see the light spot on the body surface in obese patients, making it difficult to accurately determine the insertion point of the interventional device. However, the puncture guidance provided by the present invention allows doctors to easily locate the insertion point of the interventional device on the human body surface without the need for a built-in light source. This will be explained in detail later.

[0069] In some embodiments, the processor 30 may further acquire an ultrasonic image obtained by the ultrasonic probe 10 scanning the target tissue. For example, the processor 30 may control the ultrasonic imaging device to acquire an ultrasonic image of the target tissue and may further display the ultrasonic image on a display interface. The process of acquiring an ultrasonic image of the target tissue by the ultrasonic imaging device can be found in the aforementioned description and will not be further described here.

[0070] Before the puncture, the doctor performs preoperative preparations, such as preparing surgical equipment, such as ultrasound imaging equipment, spatial positioning device 20, and a laparoscope system (a laparoscope system is used as an example in this embodiment), preparing various materials, and performing disinfection. The doctor then connects various equipment, assembles the interventional device, and anesthetizes the patient and establishes pneumoperitoneum.

[0071] The doctor inserts a laparoscope (optical / ultrasound) for exploration, confirms the condition of the liver, explores the puncture targets, and evaluates the condition of the puncture targets (size, location, number, adjacent relationships, etc.).

[0072] like Figure 3 As shown, the puncture guide device 910 is fixed to the interventional device, and one of them is installed with a second navigation sensor 220 or both are installed with a second navigation sensor 220. During laparoscopic surgery, the LUS probe 10 is inserted into the abdominal cavity through the channel below the abdominal wall, and scans the surface of the organ (target tissue) to provide palpation and ultrasonic images below the surface of the organ for the doctor to find and mark the puncture target. That is, after the doctor completes the above preparations, he places the ultrasonic probe 10 on the target tissue and operates the ultrasonic imaging device to issue instructions for scanning. In response to the instruction, the processor 30 controls the ultrasonic probe 10 to transmit ultrasonic waves to the target tissue through the transmitting circuit 610, and receives the echo of the ultrasonic waves through the receiving circuit 620, thereby processing the echo of the ultrasonic waves to obtain an ultrasonic image, and displaying the ultrasonic image on the display of the human-computer interaction device 50. The ultrasonic image can be two-dimensional or three-dimensional. This embodiment is described by taking a two-dimensional ultrasonic B image as an example. This process can be carried out in real time, thereby obtaining a real-time ultrasonic image and displaying the real-time ultrasonic image on the display. The display interface of the display can be as shown below. Figure 6 As shown, Figure 6 The lower left corner shows the projection of the probe. The ultrasound probe 10 can be provided with multiple function buttons. Usually, the doctor needs to stare at the display, and these function buttons need to be operated blindly. Therefore, these function buttons 110 are also displayed on the display interface. The function buttons 110 are displayed on the projection of the probe, making it easier for the doctor to operate according to the reference.

[0073] like Figure 7 As shown, the doctor can operate the function button to call out the function menu E. That is, the processor 30 receives the instruction from the user for calling out the function menu, and in response to the instruction, displays the function menu E on the display interface, and displays the projection image of the probe on the left side of E. The function menu E includes a virtual button for starting the puncture navigation function. After the virtual button is triggered by the user, the processor 30 starts the puncture navigation function, that is, executes Figure 5 The present invention has no limitation on the order of obtaining the position of the ultrasound probe, the position of the interventional device, and the order of obtaining the ultrasound image.

[0074] Step 2: Determine the spatial position and orientation of at least one puncture reference line within the ultrasound imaging plane based on the ultrasound probe 10's posture and the interventional device's spatial constraint information. Because in-plane puncture is used, the in-plane spatial constraint information includes the location of the probe puncture hole on the ultrasound probe, which is known and pre-set. Specifically, the processor 30 determines the spatial position and orientation of at least one puncture reference line within the ultrasound imaging plane based on the ultrasound probe's posture and the location of the probe puncture hole on the ultrasound probe. The ultrasound imaging plane is the plane where the ultrasound probe scans the target tissue to obtain the ultrasound image. The puncture reference line is used to guide the interventional device through the probe puncture hole. The puncture reference line passes through the probe puncture hole, or the extension of the puncture reference line passes through the probe puncture hole. This means that the processor 30 can calculate the spatial position and orientation of one or more lines passing through the probe puncture hole in the same spatial coordinate system based on the ultrasound probe's posture and the location of the probe puncture hole on the ultrasound probe. For example, the spatial position and orientation of these lines can be expressed as a straight line equation or a series of coordinate points. These one or more lines can then serve as the puncture reference lines. Determining the spatial position and orientation of the puncture reference line is actually determining the puncture reference line in the spatial coordinate system. The interventional device only needs to puncture along any such line to smoothly pass through the probe puncture hole, playing the role of puncture guidance. The function of the probe puncture hole is to confine the interventional device passing through the probe puncture hole within the ultrasound imaging plane, so that the puncture process of the interventional device can also be presented on the ultrasound image. From these contents, it can be seen that the puncture reference line is the puncture path that the interventional device can pass through the probe puncture hole.

[0075] There are many specific ways to determine the puncture reference line, and two of them are given below for illustration.

[0076] In the first method, the processor 30 determines the spatial position and orientation of the central axis of the probe puncture hole based on the posture of the ultrasonic probe and the position of the probe puncture hole on the ultrasonic probe. Specifically, in the same spatial coordinate system, the processor 30 can calculate the coordinates of each point on the central axis of the probe puncture hole based on the coordinates of each point on the ultrasonic probe and the coordinates of the probe puncture hole on the ultrasonic probe. The coordinates of each point on the central axis reflect the spatial position and orientation of the central axis, that is, the orientation of the central axis. The processor 30 uses the central axis as a puncture reference line located in the ultrasonic imaging plane, that is, the spatial position and orientation of the central axis of the probe puncture hole as the spatial position and orientation of the puncture reference line. If you want to make the puncture reference line or its extension line pass through the target area (such as a lesion), the user can adjust the posture of the ultrasonic probe, thereby adjusting the central axis of the probe puncture hole, so that the puncture reference line or its extension line passes through the target area.

[0077] In the second way, the spatial constraint information can also include the spatial position of the target area. The processor 30 can obtain the spatial position of the target area; based on the spatial position of the target area, the posture of the ultrasound probe, and the position of the probe puncture hole on the ultrasound probe, determine at least one puncture path that is located in the ultrasound imaging plane and can pass through the probe puncture hole and touch the target area, that is, determine the spatial position (such as the position in the spatial coordinate system) and orientation (such as the angle in the spatial coordinate system) of the puncture path. Specifically, in the same coordinate system, the coordinates of each point in the target area, the coordinates of each point in the ultrasound probe, the coordinates of the probe puncture hole on the ultrasound probe, and the coordinates of each point in the ultrasound imaging plane are all known or can be calculated. The target area can be seen on the ultrasound image, that is, the probe puncture hole and the target area are both located in the ultrasound imaging plane. In this way, the line connecting the probe puncture hole and the target area is the puncture path. There is more than one such puncture path. The coordinates of such a puncture path can be calculated through the various coordinates mentioned above, that is, the spatial position and orientation of the puncture path are obtained. The processor 30 uses the at least one puncture path as the at least one puncture reference line, that is, uses the spatial position and orientation of the puncture path as the spatial position and orientation of the puncture reference line.

[0078] The target area is usually the final target of puncture, such as a lesion, a fixed position relative to the ultrasound probe 10, etc. The processor 30 may obtain the spatial position of the target area in a variety of ways, which are described below with examples.

[0079] One approach is for the processor 30 to determine the target area based on the ultrasound image. For example, the processor 30 automatically identifies the target area (e.g., a lesion) on the ultrasound image. The spatial position of the ultrasound probe is known, and the spatial position of the ultrasound image, which is fixed to the ultrasound probe position, is also known. Identifying the target area from the ultrasound image also determines the target area's position on the ultrasound image. Calculations based on these positions yield the target area's spatial position. Specifically, the processor 30 can determine the target area's spatial position, size, and shape based on the target area on the ultrasound image. In this embodiment, the processor 30 determines the target area based on the ultrasound image manually by the physician. The processor 30 displays the ultrasound image on a display interface. The physician can directly click on the ultrasound image to mark a target at any location on the ultrasound image plane (ultrasound image), or select a location to mark using a button or a function menu. Function menu E also allows the physician to set a target area. The processor 30 receives the user's target area setting operation via the input device of the human-computer interaction device, thereby determining the target area on the ultrasound image. The processor 30 then determines the target area's spatial position, size, and shape based on the target area on the ultrasound image. The spatial positions mentioned in the present invention may be positions in the same spatial coordinate system, such as the spatial positions in the reference coordinate system used by the spatial positioning device 20, which facilitates positioning and calculation.

[0080] There are many ways for the user to set the target area. For example, in one way, there is a virtual button on the function menu E, such as Figure 11 The "Mark Target" virtual button in the image is triggered by the doctor operating the function button on the ultrasound probe. After the virtual button is triggered, the first mark A is displayed on the ultrasound image. Figure 12 As shown, the first marker A is at its initial position and has not yet moved to the lesion. The doctor can use the function key to move the first marker A to the target area, so that the location of the target area is revealed or marked. In other words, based on the user's operation to adjust the position of the first marker A, the processor 30 uses the position of the first marker A finally determined by the user as the location of the target area, and the size of the first marker A is the size of the target area.

[0081] Another approach is for the processor 30 to obtain a preset position and use the preset position as the spatial position of the target area. The preset position is a fixed position on the ultrasound image obtained by scanning the target tissue with the ultrasound probe, such as a position at a preset depth directly below the ultrasound probe. This position is usually not the location of the lesion, and the doctor can adjust the probe posture to move the lesion to the preset position (or move the preset position to the lesion). For example Figure 12As shown, the processor 30 can display a first marker A on the ultrasound image. The spatial position of the first marker A is a preset position. Instead of determining the target area on the ultrasound image, the physician can adjust the probe position to move the lesion to the first marker A (or move the first marker A to the lesion). The resulting spatial position of the target area is also the spatial position of the lesion. This approach provides the physician with a certain degree of operational freedom, allowing for more freedom in locating and selecting the spatial position of the puncture target.

[0082] The size of the target area can be preset, and its shape can be regular (e.g., circular). Of course, in some embodiments, after the target area is determined from the ultrasound image, the size and shape of the target area can be detected, for example, by drawing the target area's size and shape based on the actual ultrasound image. Specifically, the physician can manually trace the boundary of the puncture target, such as a tumor, using an input device, such as a function key on the probe, to obtain the size and shape of the target area. Considering that the subsequent guidance image to be generated is three-dimensional, it is desirable to have the three-dimensional size and shape of the target area. Therefore, the physician can manually or through image segmentation draw the irregular shape of the target area. Segmentation methods can include manual segmentation methods or automatic segmentation based on image segmentation methods. Manual segmentation method: After determining the spatial location of the target area, the ultrasound probe is used to perform an ultrasound sector scan of the target area and structures, while simultaneously obtaining the ultrasound probe's position detected by the first navigation sensor. This generates a series of two-dimensional ultrasound image data corresponding to the ultrasound probe's position. The tumor boundary is manually traced on each frame of the two-dimensional ultrasound image (two-dimensional slice), and the segmentation results of these two-dimensional slices are used to generate three-dimensional volume data of the puncture target. Alternatively, interactive or fully automated segmentation algorithms can be used to obtain 3D volumetric data of the puncture target. These segmentation algorithms utilize basic image processing techniques and are omitted for clarity. The 3D volumetric data of the puncture target includes the 3D shape (contour) and dimensions of the target area.

[0083] In step 3, processor 30 outputs information representing the relative positional relationship between the puncture guide device and the puncture reference line based on the spatial position of the puncture guide device and the puncture reference line. In the prior art, since the doctor's naked eye can only see the body surface, while the video and ultrasound images captured by the laparoscope can only show the internal body, it is difficult to match the surface and internal body information. This makes locating the puncture site on the body surface the most difficult part of the entire puncture process. Even if a light source is emitted into the body as described in the background art, the puncture site can still be inaccurately located due to factors such as thick fat. By adopting the guidance method of the present invention, when the doctor operates the puncture guidance device to search for a suitable needle insertion point on the human body surface, the doctor obtains the relative position relationship information output by the ultrasonic imaging device, and can know whether the puncture guidance device is located on the puncture reference line. Since the puncture reference line is a puncture path that meets the requirements of in-plane puncture, the needle can be inserted as long as the puncture guidance device is on the puncture reference line. That is, the position of the intersection of the puncture reference line and the human body surface can be used as the needle insertion point. The doctor can find the needle insertion point very quickly and accurately according to the guidance of the ultrasonic imaging device, and it is not affected by the environment or the patient's weight.

[0084] There are many types of information used to present the relative positional relationship between the puncture guide device and the puncture reference line. Two types are given below for illustration.

[0085] First, the information is a prompt. Based on the spatial position of the puncture guide device, the processor 30 determines whether the puncture guide device is on the puncture reference line or an extension of the puncture reference line. If so, the processor 30 outputs a corresponding prompt, and / or, if not, the processor 30 outputs a corresponding prompt. Being on the puncture reference line and being on an extension of the puncture reference line are the same thing. That is, the processor 30 can output the result of whether the puncture guide device is on the puncture reference line or an extension of the puncture reference line in various ways. For example, when the puncture guide device is on the puncture reference line or an extension of the puncture reference line, the processor 30 can display the result of the puncture guide device being on the puncture reference line or an extension of the puncture reference line on a display interface, or can output a corresponding light signal through the display or indicator light of the ultrasonic imaging device to prompt the user that the puncture guide device is on the puncture reference line or an extension of the puncture reference line, or can output a voice signal through the speaker of the ultrasonic imaging device to prompt the user that the puncture guide device is on the puncture reference line or an extension of the puncture reference line, etc. The specific prompt method is not limited. Similarly, when the puncture guide device is not on the puncture reference line or its extension, the processor 30 may display the result that the puncture guide device is not on the puncture reference line or its extension on the display interface, or may output a corresponding light signal through the display or indicator light of the ultrasonic imaging device to prompt the user that the puncture guide device is not on the puncture reference line or its extension, or may output a voice signal through the speaker of the ultrasonic imaging device to prompt the user that the puncture guide device is not on the puncture reference line or its extension, etc. The specific prompting method is not limited. This method of automated judgment and prompting allows the doctor to simply place the puncture guide device on the human body surface, then move the puncture guide device, and then proceed directly to puncture after seeing the prompt that the puncture guide device is on the puncture reference line or its extension. The doctor does not need to determine whether the needle insertion point is appropriate and accurate, which is very convenient.

[0086] The second method is to present the information about the relative position relationship between the puncture guide device and the puncture reference line in a graphical manner. Specifically, the processor 30 generates and displays a guide image based on the spatial position of the puncture guide device and the spatial position and orientation of the puncture reference line. Figure 8 and 9As shown, the guidance image X includes a puncture guide device identifier F and a puncture reference line B, which represent the relative positional relationship between the puncture guide device and the puncture reference line. This is equivalent to mapping the spatial position of the puncture guide device and the spatial position and orientation of the puncture reference line onto a single image, resulting in a guidance image. The relative positional relationship between the puncture guide device identifier F and the puncture reference line B presented in the guidance image reflects the true positional relationship between the puncture guide device and the puncture reference line. The puncture guide device identifier F is used to mark the spatial position of the puncture guide device. It can be any type of graphic, icon, or a two-dimensional or three-dimensional model of the puncture guide device, as long as it represents the puncture guide device. This allows the doctor to determine at a glance whether the puncture guide device is on the puncture reference line, thereby allowing them to decide whether to reposition the puncture guide device or proceed with needle insertion. This information presentation method is also intuitive and efficient.

[0087] Considering that the spatial position of the puncture guide device is equivalent to the spatial position of the human body surface, the processor 30 can also display a virtual image of the human body surface on the guide image according to the spatial position of the puncture guide device, such as Figure 4 The "abdominal wall" in the image can be used to visually present the location of the body surface. For example, the spatial location of the horizontal plane where the puncture guide device is located can be determined based on the spatial location of the puncture guide device, and this horizontal plane can be displayed on the guide image as a virtual image of the human body surface.

[0088] Step 3 can be performed in real time or triggered by the user. For example, the user operates the puncture guide device or the ultrasonic imaging device to issue an instruction for determining the needle insertion point. After receiving the instruction, the ultrasonic imaging device executes step 3, thereby allowing the ultrasonic imaging device to determine whether the needle insertion point is correct.

[0089] The processor 30 may also display the target area on the guide image, such as displaying a first mark A, so that the user knows where the puncture target is during puncture.

[0090] In some embodiments, the processor 30 can determine the spatial position and orientation of the puncture direction guide line based on the posture of the interventional device. The puncture direction guide line is used to indicate the orientation of the interventional device. In this embodiment, the spatial position of the end of the interventional device close to the target tissue can be used as the starting point of the puncture direction guide line, and the orientation of the interventional device can be used as the orientation of the puncture direction guide line, that is, the puncture direction guide line is a line segment starting from the end of the interventional device and extending a certain length along the central axis of the interventional device (equivalent to the extension line of the central axis of the interventional device). The puncture direction guide line is equivalent to being able to graphically present the puncture path that the interventional device will pass through when performing puncture in the current position and orientation.

[0091] The processor 30 can generate a guide image and display the guide image based on the spatial position and orientation of the puncture reference line and the spatial position and orientation of the puncture direction guide line. Figure 8-10 As shown, the guidance image includes: a puncture reference line B and a puncture direction guide line C. The positional relationship and orientation of the puncture reference line B and the puncture direction guide line C on the guidance image reflect the spatial positional relationship and orientation of the puncture reference line and the puncture direction guide line. In this way, the doctor can also perform puncture very conveniently by using the puncture reference line B and the puncture direction guide line C on the guidance image. In particular, when the interventional device punctures the probe puncture hole and the target area, the guidance effect of the interventional device direction is very good. Of course, the user can also perform puncture with the help of real-time images captured by the laparoscope.

[0092] In this embodiment, the guidance image may include the puncture guide device identifier F, the puncture reference line B, and the puncture direction guide line C. Specifically, the processor 30 may generate the guidance image based on the spatial position of the puncture guide device, the spatial position and orientation of the puncture reference line, and the spatial position and orientation of the puncture direction guide line. To determine which elements (e.g., the puncture guide device, puncture reference line, puncture direction guide line, etc.) are to be displayed in the guidance image, the spatial position information of the elements can be incorporated into the guidance image when the guidance image is generated. This is not detailed here.

[0093] In one embodiment, after the interventional device is inserted into the body from the needle insertion site on the body surface, the identifier F of the puncture guiding device on the guidance image may continue to be displayed or may no longer be displayed.

[0094] The guide image may include: a two-dimensional guide image and / or a three-dimensional guide image. That is, the displayed guide image may be one or two, and when there are two, one is a two-dimensional image and the other is a three-dimensional image. The two-dimensional guide image may be as follows: Figure 10 As shown by the lines above the ultrasound image, the puncture reference line B and the puncture direction guide line C displayed therein can be: the puncture reference line and the puncture direction guide line obtained in the above steps are projected onto the plane where the ultrasound image is located (ultrasound imaging plane), that is, the processor 30 can map the spatial position and orientation of the puncture reference line and the spatial position and orientation of the puncture direction guide line to a one-two-dimensional plane (such as the ultrasound imaging plane) to obtain a two-dimensional guidance image. The three-dimensional guidance image X can be as follows Figure 8 、 9 as well as Figure 10As shown in the small window in the upper right corner, the puncture reference line B and the puncture direction guide line C displayed therein may be the puncture reference line and the puncture direction guide line determined in the aforementioned steps, which is equivalent to performing three-dimensional modeling on the puncture reference line and the puncture direction guide line obtained in the aforementioned steps to obtain the puncture reference line B and the puncture direction guide line C in the three-dimensional guidance image. That is, the processor 30 may perform three-dimensional modeling to obtain the three-dimensional guidance image X according to the spatial position and orientation of the puncture reference line and the spatial position and orientation of the puncture direction guide line.

[0095] The puncture guidance method provided by the present invention can be performed in real time, that is, the guidance image displayed on the display interface can be updated in real time, providing puncture guidance for doctors in the entire process before puncture, performing surface puncture, passing through the probe puncture hole, and puncturing the target area.

[0096] The guidance image generated in the above manner is sufficient. However, given the large number of puncture trajectories that can pass through the probe puncture hole and the large number of lines connecting the probe puncture hole and the target area, spatial constraint information can be added to allow the processor 30 to determine one or more puncture reference lines within a smaller range. For example, the spatial constraint information may also include at least one of the following: the probe puncture hole size, the interventional device diameter, and the acoustic plane thickness. This embodiment uses these four factors as an example for illustration.

[0097] The size of the probe puncture hole, similar to its position on the ultrasound probe 10, is a known parameter that can be stored (pre-set) in the ultrasound imaging device and easily accessed by the processor 30. The size of the probe puncture hole affects the range of motion of the interventional device, and thus the number of selectable (to-be-selected) puncture reference lines. The processor 30 can determine the puncture reference lines based on the position of the ultrasound probe 10 and the position and size of the probe puncture hole on the ultrasound probe 10.

[0098] Accordingly, the diameter of the interventional device will also affect the number of selectable puncture reference lines, and the processor 30 can also obtain the diameter of the interventional device. The diameter of the interventional device can be input into the ultrasound imaging device by the user, for example Figure 11 As shown, function menu E allows the physician to set parameters for the interventional device, such as model and length, and may also include the diameter of the interventional device. The processor 30 can determine the diameter of the interventional device based on the interventional device parameters set by the user in function menu E. The diameter of the interventional device can also be stored (pre-set) in the ultrasound imaging device. Furthermore, the processor 30 can determine the puncture reference line based on the position of the ultrasound probe 10, the position and size of the probe puncture hole on the ultrasound probe 10, and the diameter of the interventional device.

[0099] The acoustic plane thickness (thickness in the elevat i on direction) can be pre-set. During the scanning process of two-dimensional ultrasound images, since the ultrasound beam itself has a certain thickness and the far-field divergence characteristics of the ultrasound beam make the ultrasound imaging not reflect the situation of an infinitely thin cross-section, but a plane with a certain thickness and gradually diverging. The thickness of this plane is the acoustic plane thickness, which is also a known parameter. In other words, the direction of the acoustic plane thickness is the dimension perpendicular to the theoretical plane of ultrasound imaging in three-dimensional space, and the sound beam has a diffusion range in this direction. Its thickness is determined by the physical structure of the probe (such as the arrangement of array elements) and the acoustic beam focusing technology. Any puncture of the interventional device within the range of the acoustic plane thickness can be regarded as an in-plane puncture.

[0100] One or more of the size of the probe puncture hole, the diameter of the interventional device, and the thickness of the acoustic plane may affect the number of selectable puncture reference lines.

[0101] The present invention does not limit the length of the puncture reference line, which can be extended to a relatively long or short extent. In this embodiment, it extends to the position on the human body surface. For example, its length can be the distance between the probe puncture hole and the puncture guide device, or the distance between the target area and the puncture guide device. These distances can be calculated based on the spatial position relationship.

[0102] After the target area is determined, the processor 30 can also display the target area on the guide image, for example, by displaying the first mark A on the guide image. The doctor can then clearly know whether the current direction of the interventional device is aligned with the target area in combination with the puncture direction guide line, which facilitates adjustment or needle insertion.

[0103] The processor 30 displays the ultrasound image and the guidance image on the display interface, which can be displayed in chronological order or on the same screen. Figure 10 The ultrasound image and the guidance image can be displayed on the same screen without being superimposed, that is, the two are displayed separately and on the same screen, which is equivalent to displaying the same image on one display interface. Figure 7 and 8, so that the two do not interfere with each other, and the user can get the information he wants from the two images separately. Of course, the ultrasound image and the guide image can also be displayed in a superimposed manner, so that the information presentation is more focused, and the guide image is combined with the real-time image of the lesion in the ultrasound image and the real-time image of the interventional device, which is more intuitive. The ultrasound image and the guide image are superimposed according to the positional relationship between the two, that is, the puncture target (such as the lesion) on the ultrasound image overlaps with the target area on the guide image after superposition. The relative positional relationship between the ultrasound image and the ultrasound probe is known, and the posture of the ultrasound probe is one of the elements for determining the puncture reference line, so the relative positional relationship between the guide image and the ultrasound probe is also known. In this way, the ultrasound image and the guide image can be superimposed based on the spatial position of the ultrasound probe, and the positional relationship between the two corresponds after superposition.

[0104] In this embodiment, the display interface displays a three-dimensional guidance image X, such as Figure 10 As shown in the figure in the box in the upper right corner, the three-dimensional guide image X can be displayed on the same screen as the ultrasound image without being superimposed together. And / or, the display interface displays a two-dimensional guide image, and the two-dimensional guide image is superimposed on the ultrasound image, as shown in the ultrasound image and the various lines and logos on it in the figure. The superimposed display of the two-dimensional guide image and the ultrasound image is equivalent to displaying the puncture reference line B and the puncture direction guide line C on the ultrasound image. If the ultrasound image is a three-dimensional ultrasound image, the three-dimensional guide image can also be superimposed on the three-dimensional ultrasound image. The doctor can see the lesion on the ultrasound image, which is convenient for determining the target area on the ultrasound image and for puncture. In this embodiment, most of the display interface is used to display the ultrasound image and the superimposed two-dimensional guide image, and then a small area of ​​the interface (such as Figure 12 The 3D guidance image is displayed in the upper right corner of the window.

[0105] In step 3, the processor 30 may generate a guidance image based on the position of the ultrasound probe, the position of the interventional device, the spatial position and orientation of the puncture reference line, and the spatial position and orientation of the puncture direction guide line. Figure 8 and 10As shown, the guide image also includes: an ultrasound probe image 120 and an interventional device image 920. The ultrasound probe image 120 is used to reflect the position of the ultrasound probe. The interventional device image 920 is used to reflect the position of the interventional device. The guide image can also include a target area, that is, the target area is displayed on the guide image so that the location of the lesion can be more clearly presented. The puncture direction guide line C is equivalent to a prediction of the puncture path, so that the user can quickly find out whether the interventional device can pass through the probe puncture hole and the target area. In this way, the ultrasound probe 120, the interventional device 920, the target area (first mark A), the puncture direction guide line C and the puncture reference line B can be seen on the guide image. According to the positional relationship of these, the doctor can perform the puncture very accurately. The interventional device image, ultrasound probe image, target area, puncture direction guide line and puncture reference line on the three-dimensional guide image X can all be three-dimensional, and the spatial position relationship is more intuitive.

[0106] The processor 30 can also determine the posture of the probe puncture hole based on the posture of the ultrasound probe, the position and size of the probe puncture hole on the laparoscopic ultrasound probe; and then display the probe puncture hole image on the ultrasound probe image according to the posture of the probe puncture hole. The probe puncture hole image is used to reflect the posture of the probe puncture hole, which is convenient for the user to puncture.

[0107] The size of the target area can be adjusted (e.g., expanded or reduced). For example, for certain types of puncture targets, such as tumors and other diffuse lesions, it is necessary to mark the tissue within a certain area around the puncture target, i.e., the safety margin. Taking the puncture ablation procedure commonly used in laparoscopic surgery as an example, the safety margin refers to the requirement that the ablation area during laparoscopic ultrasound-guided puncture ablation generally covers a distance of approximately 5 mm extending outward from the edge of the puncture target to ensure complete ablation of the entire puncture target. Therefore, in such working conditions, the puncture target marker (first marker) for laparoscopic ultrasound-guided puncture ablation must not only cover the tumor area but also the safety margin. The latter volume data includes the former, and both need to be ablated during the laparoscopic ultrasound-guided puncture ablation process. In the field of image processing, a three-dimensional safety margin can be generated by expanding the puncture target marker outward by a certain distance (the expansion algorithm is a simple morphological filtering algorithm). For example, the processor 30 expands the target area outward by a preset distance based on the size and shape of the target area determined above to obtain a new target area. The new target area contains the original target area and the safety margin. Because the mapping matrix Pi, i.e., the mapping matrix from the coordinates in the LUS probe's image coordinate space to the reference coordinate system used by the spatial positioning device 20, is obtained during the aforementioned positioning process, the mapping matrix Pt is obtained, which maps each pixel or marker in the puncture target to the reference coordinate system used by the spatial positioning device 20. Since the safety margin, or the preset distance for outward expansion, is known, the mapping matrix from each pixel or marker in the entire new target area to the reference coordinate system used by the spatial positioning device 20 is also obtained. The processor 30 then updates the first marker A on the guidance image. For example, the updated first marker A includes the original target area marker (representing the tumor area) and the safety margin marker. The original target area marker indicates the location, size, and shape of the original target area, and the shape can also be a predetermined regular pattern. The safety margin marker, located outside the original target area marker, indicates the area requiring additional puncture and ablation to ensure complete ablation. Similarly, for some examinations where puncture is desired in the center of the lesion, the target area can be reduced automatically by the processor 30 or manually by the physician. For example, the processor 30 reduces the target area inward by a predetermined distance based on the size and shape of the target area determined above to obtain a new target area. The processor 30 updates the first marker A on the guide image by reducing the first marker A accordingly so that its size and shape match the new target area.

[0108] In other embodiments, the processor 30 may also identify the puncture risk area from the ultrasound image, or determine the puncture risk area based on the user's operation on the ultrasound image. The specific process of the user determining the puncture risk area and the specific function of the processor 30 may be the same as the process of determining the target area described above, and will not be described in detail here. Figure 9As shown, the processor 30 can determine the spatial location of the puncture risk area based on the puncture risk area on the ultrasound image, and thus display the puncture risk area D on the guidance image. The puncture risk area can be a blood vessel, bile duct, etc. This allows the doctor to see the puncture risk area D during puncture and choose to avoid it.

[0109] In some embodiments, the processor 30 may further segment at least one anatomical structure from the ultrasound image to obtain an anatomical structure image; the anatomical structure image may then be displayed in the guidance image. The anatomical structure may include a puncture target, a puncture risk area, and / or other anatomical structures, thereby facilitating the user's understanding of the target tissue. Once the target area is determined, the anatomical structures corresponding to the target area may be displayed differentially in the guidance image, which is also a method of displaying the target area in the guidance image. Similarly, the anatomical structures corresponding to the puncture risk area may also be displayed differentially, which is also a method of displaying the puncture risk area in the guidance image.

[0110] The processor 30 can acquire a three-dimensional ultrasound image of the target tissue. It can then extract three-dimensional data of the interventional device, puncture risk areas such as blood vessels and bile ducts, target areas such as tumors (in puncture ablation or biopsy scenarios), and portal vessels (in portal vein puncture staining scenarios), and reconstruct the data in the guidance image, making the interventional device, puncture risk areas, and target areas in the guidance image more realistic. Specifically, in one embodiment, the physician can choose to acquire a three-dimensional ultrasound image based on the tracking and positioning of the LUS probe by the navigation system, and reconstruct three-dimensional models of various structures based on image segmentation, including but not limited to three-dimensional models of the interventional device, three-dimensional models of puncture risk areas such as blood vessels and bile ducts, and three-dimensional models of target areas such as lesions and tumors. These three-dimensional models are displayed in the guidance image. That is, the interventional device, puncture risk areas, and target areas in the guidance image can be the three-dimensional models obtained in the above manner, thereby achieving three-dimensional guidance images and allowing the physician to more easily understand the positional relationships between various structures and areas. The reconstruction algorithm is commonly referred to as free-hand reconstruction based on the navigation system. Its specific implementation is based on a mapping matrix from pixel space to physical space, namely the mapping matrix Pi obtained during the LUS probe positioning process. This is the mapping matrix that maps the coordinates of the LUS probe in the image coordinate space to the reference coordinate system used by the navigation system. This yields the mapping matrix Pd for each voxel point in the reconstructed three-dimensional model of structures such as the interventional device, puncture risk area, and target area, or the reference coordinate system used by the navigation system. This maps each pixel in the current image to the navigation positioning space of the LUS probe, forming a point set in three-dimensional space. Based on this point set, an interpolation algorithm (nearest neighbor, linear) can be used to generate three-dimensional cuboid data. By labeling this data as different entities, such as the interventional device, puncture target, and puncture risk area, and rendering them in three-dimensional space, a three-dimensional model of the corresponding structure can be obtained. Accordingly, the three-dimensional guidance image, including its puncture direction guide lines and puncture reference lines, can also be three-dimensional.

[0111] When the ultrasound image is a two-dimensional ultrasound image, the puncture reference line B, interventional device, puncture direction guide line C, puncture danger area D, etc. on the two-dimensional guidance image can all be obtained by projecting the corresponding three-dimensional model in the three-dimensional guidance image onto the plane where the ultrasound image is located. Figure 13 The real-time ultrasound image shown shows the projections of various 3D models onto the 2D real-time ultrasound image plane. Specifically, these include projection B of the 3D puncture reference line, projection 920 of the interventional device within the ultrasound plane, section A of the puncture target marker within the ultrasound plane or edge A of the section where the puncture target marker and the ultrasound plane overlap, puncture direction guideline C (i.e., its projection within the ultrasound plane), and section D of the 3D model of the puncture risk area within the ultrasound plane.

[0112] The processor 30 can obtain the spatial position and direction of the puncture direction guide line C in real time based on the positioning result (posture) of the interventional device, and calculate its relative position relationship with the puncture reference line, puncture target mark, dangerous area, etc., and display alarm information and feedback on the interface.

[0113] Of course, in some embodiments, the processor 30 may not need to project the three-dimensional model in the three-dimensional guidance image onto the ultrasound imaging plane to obtain a two-dimensional guidance image, but directly generate a two-dimensional guidance image on the two-dimensional guidance image based on the previously acquired ultrasound probe posture, interventional device posture, target area, puncture risk area, and spatial constraint information of the interventional device. Figure 13 Various types of guidance information (920, A, B, C, D, etc.) are shown.

[0114] The processor 30 can also determine whether the puncture path of the current interventional device meets the puncture requirements based on the positional relationship of various guidance information in the guidance image, avoid a series of dangerous areas such as blood vessels, bile ducts, etc., and accurately reach the puncture target.

[0115] Specifically, the processor 30 can determine whether the interventional device is facing the probe puncture hole, that is, whether the puncture direction guide line passes through the probe puncture hole. For example, the processor 30 can determine the posture of the probe puncture hole based on the posture of the ultrasound probe and the position of the probe puncture hole on the ultrasound probe; based on the posture of the probe puncture hole (in some embodiments, the size of the probe puncture hole can also be added) and the puncture direction guide line, determine whether the puncture direction guide line completely passes through the probe puncture hole. If so, it is determined that the interventional device is facing the probe puncture hole; otherwise, it is determined that the interventional device is not facing the probe puncture hole. For another example, the processor 30 can calculate the angle between the puncture direction guide line and the puncture reference line, and determine whether the angle exceeds a preset angle. If so, it is determined that the interventional device is not facing the probe puncture hole. If it does not exceed the preset angle, it means that the two are parallel or nearly parallel, and the interventional device is facing the probe puncture hole.

[0116] If the interventional device is not oriented toward the probe puncture hole, indicating that the interventional device will not be able to pass through the probe puncture hole along the current puncture path, the processor 30 can output a corresponding prompt message (such as an alarm message) to alert the physician. In this embodiment, the processor 30 outputs this prompt message by changing the display attributes of at least one of the puncture direction guide line, the interventional device image, the puncture reference line, and the ultrasound probe image in the guidance image to indicate that the interventional device is not oriented toward the probe puncture hole. Display attributes are related to the display, and changes in display attributes will inevitably be reflected in the image, such as color. If the interventional device is facing the probe puncture hole, the processor 30 can display at least one of the puncture direction guide line, the interventional device image, the puncture reference line, and the ultrasound probe image in one color (such as green); if the interventional device is not facing the probe puncture hole, the processor 30 can display at least one of the puncture direction guide line, the interventional device image, the puncture reference line, and the ultrasound probe image in another color (such as red), or flash at least one of the puncture direction guide line, the interventional device image, the puncture reference line, and the ultrasound probe image, or mark at least one of the puncture direction guide line, the interventional device image, the puncture reference line, and the ultrasound probe image, etc. As long as the display mode (attribute) is different when the interventional device is facing the probe puncture hole and when the interventional device is not facing the probe puncture hole, the processor 30 outputs the alarm information, and can also use a pop-up window or text to indicate the status of the current puncture path (correct or not), or use arrows, numbers, or operation prompts to indicate whether the current puncture path is available. There may be many factors that cause the ultrasound probe to shift during the puncture process, and this method can well remind the doctor of the risks.

[0117] In some embodiments, before the puncture probe punctures the hole, the processor 30 may also determine whether the interventional device is directed toward an area on the ultrasound probe other than the probe puncture hole. If so, the processor 30 may output a corresponding prompt message. Similarly, when the processor 30 outputs this prompt message, it may change the display attributes of at least one of the puncture direction guide line, the interventional device image, the ultrasound probe image, the target area, and the puncture reference line in the guidance image to indicate that the interventional device is directed toward an area on the ultrasound probe other than the probe puncture hole. The method for changing the display attributes is the same as described above and is not further described here.

[0118] The processor 30 can determine whether the interventional device is facing the target area, that is, whether the puncture direction guide line passes through the target area. If not, it means that the puncture direction is incorrect, such as Figure 8As shown, adjustment is required, so the corresponding prompt information (such as alarm information) is output. Similarly, the processor 30 outputs the prompt information and can change the display attributes of at least one of the puncture direction guide line, interventional device image, target area and puncture reference line in the guide image to prompt that the interventional device is not facing the target area. The method of changing the display attributes is the same as above and will not be repeated here. The processor 30 outputs the prompt information and can also use a pop-up window or text to prompt the status of the current puncture path (correct or not), or use arrows, numbers or operation prompts to indicate whether the current puncture path is available.

[0119] If the processor 30 determines that the interventional device is directed toward the target area and none of the above situations requiring alarm information to be given occur, it indicates that the puncture path of the interventional device is correct and appropriate. Figure 9 As shown, the corresponding prompt information is given to prompt that the current puncture path is available (the previous alarm messages all prompt that the current puncture path is unavailable). For example, the processor 30 displays the first display attribute of at least one of the puncture direction guide line, the interventional device image, the target area and the puncture reference line. In this embodiment, the first display attribute of the puncture direction guide line is displayed, thereby prompting that the current puncture path is appropriate. When the alarm message appears, the second display attribute is displayed, and the first and second display attributes are different. Of course, the processor 30 can also prompt that the current puncture path is available by using a pop-up window or text; it can also use arrows, numbers or operation prompts to indicate that the current puncture path is available.

[0120] The processor 30 can determine whether the interventional device is facing the puncture danger zone, that is, whether the puncture direction guide line passes through the puncture danger zone. If so, it means that the interventional device may puncture the danger zone if it continues to puncture, so it outputs the corresponding prompt information (such as alarm information). Similarly, the processor 30 outputs the prompt information and can change the display attributes of at least one of the puncture direction guide line, the interventional device image, the puncture reference line and the puncture danger zone in the guide image to prompt the interventional device to face the puncture danger zone. The method of changing the display attributes is the same as above and will not be repeated here. In this embodiment, the alarm information caused by the interventional device facing the wrong direction can be prompted by changing the display attributes of the puncture direction guide line. This is highly targeted and can easily let the doctor know that the current puncture path is inappropriate. The processor 30 outputs the alarm information and can also use a pop-up window or text to prompt the status of the current puncture path (correct or not), or can use arrows, numbers or operation prompts to indicate whether the current puncture path is available.

[0121] The above-mentioned puncture guidance method and system are very suitable for laparoscopic ultrasound puncture scenarios, such as ultrasound puncture in conjunction with a laparoscopic system, such as laparoscopic ultrasound puncture, thoracoscopic ultrasound puncture, uterine adnexa ultrasound puncture, etc. The above-mentioned embodiment adds a navigation system to the ultrasound puncture to guide the puncture. For example, a magnetic navigation device and a sensor are used to track and locate the ultrasound probe and the interventional device respectively, so as to obtain their relative position relationship and posture relationship in the magnetic field space (such as the probe direction, the interventional device direction, etc.). At the same time, based on the ultrasound image and the positioning information detected by the magnetic navigation device, the operator can mark the position of the puncture target in space, and combine the relative position relationship between the ultrasound probe and the interventional device to establish the puncture needle point and puncture direction through the abdominal wall, through the puncture hole on the LUS probe, and to reach the puncture target position, thereby accurately completing the LUS-guided puncture operation.

[0122] This document is described with reference to various exemplary embodiments. However, those skilled in the art will recognize that changes and modifications may be made to the exemplary embodiments without departing from the scope of this document. For example, the various operational steps and components used to perform the operational steps may be implemented in different ways (e.g., one or more steps may be deleted, modified, or incorporated into other steps) depending on the specific application or considering any number of cost functions associated with the operation of the system.

[0123] Additionally, as will be appreciated by those skilled in the art, the principles of this disclosure may be embodied in a computer program product on a computer-readable storage medium pre-loaded with computer-readable program code. Any tangible, non-transitory computer-readable storage medium may be used, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD-ROMs, DVDs, Blu-ray discs, etc.), flash memory, and / or the like. These computer program instructions may be loaded onto a general-purpose computer, a special-purpose computer, or other programmable data processing device to form a machine, such that the instructions executed on the computer or other programmable data processing device can generate a device that implements a specified function. These computer program instructions may also be stored in a computer-readable memory, which can instruct the computer or other programmable data processing device to operate in a specific manner, such that the instructions stored in the computer-readable memory can form an article of manufacture that includes an implementation device that implements the specified function. The computer program instructions may also be loaded onto a computer or other programmable data processing device, causing the computer or other programmable device to execute a series of operational steps to produce a computer-implemented process, such that the instructions executed on the computer or other programmable device provide the steps for implementing the specified function.

[0124] Although the principles of this invention have been shown in various embodiments, many modifications of structure, arrangement, proportion, elements, materials and components that are particularly suitable for specific environments and operational requirements can be used without departing from the principles and scope of this invention. The above modifications and other changes or amendments are intended to be included within the scope of this invention.

[0125] The foregoing detailed description has been described with reference to various embodiments. However, those skilled in the art will recognize that various modifications and changes can be made without departing from the scope of this disclosure. Therefore, the present disclosure will be considered in an illustrative rather than a restrictive sense, and all such modifications will be included within its scope. Similarly, the advantages, other advantages and solutions to the problems of the various embodiments have been described above. However, the benefits, advantages, solutions to the problems and any elements that can produce these, or make them more specific, should not be interpreted as critical, required or necessary. The term "comprising" and any other variants used in this article are all non-exclusive inclusions, so that a process, method, article or device that includes a list of elements includes not only these elements, but also other elements that are not explicitly listed or do not belong to the process, method, system, article or device. In addition, the term "coupled" and any other variants used in this article refer to physical connections, electrical connections, magnetic connections, optical connections, communication connections, functional connections and / or any other connections.

[0126] Those skilled in the art will recognize that many changes can be made to the details of the above embodiments without departing from the basic principles of the invention. Therefore, the scope of the invention should be determined from the following claims.

Claims

1. A guiding method for laparoscopic ultrasonic puncture, characterized in that: include: The position of the laparoscopic ultrasound probe and the position of the interventional device are acquired in real time; the end of the laparoscopic ultrasound probe is used to enter the human body through a surgical incision to perform ultrasonic scanning of target tissues inside the human body; the end of the laparoscopic ultrasound probe has a probe puncture hole; Determining the spatial position and orientation of at least one puncture reference line within the ultrasound imaging plane based on the posture of the laparoscopic ultrasound probe and the position of the probe puncture hole on the laparoscopic ultrasound probe; the puncture reference line or an extension of the puncture reference line passes through the probe puncture hole, and the puncture reference line is used to guide an interventional device through the probe puncture hole; Determine the spatial position and orientation of a puncture direction guide line according to the posture of the interventional device; the puncture direction guide line is used to indicate the orientation of the interventional device; generating a guidance image and displaying the guidance image based at least on the spatial position and orientation of the puncture reference line and the spatial position and orientation of the puncture direction guide line; The guide image includes: a puncture reference line and a puncture direction guide line; wherein the positional relationship and orientation of the puncture reference line and the puncture direction guide line on the guide image reflect the spatial positional relationship and orientation of the puncture reference line and the puncture direction guide line.

2. The method according to claim 1, wherein The determining of the spatial position and orientation of at least one puncture reference line located in the ultrasound imaging plane according to the posture of the laparoscopic ultrasound probe and the position of the probe puncture hole on the laparoscopic ultrasound probe includes: The spatial position and orientation of at least one puncture reference line located in the ultrasound imaging plane are determined according to the posture of the laparoscopic ultrasound probe and the position and size of the probe puncture hole on the laparoscopic ultrasound probe.

3. The method according to claim 1, wherein The initial posture of the interventional device includes a spatial position on the surface of the human body.

4. The method according to claim 1, wherein The puncture reference line is a puncture path along which the interventional device can pass through the probe puncture hole.

5. The method according to claim 1, wherein The determining of the spatial position and orientation of at least one puncture reference line located in the ultrasound imaging plane according to the posture of the laparoscopic ultrasound probe and the position of the probe puncture hole on the laparoscopic ultrasound probe includes: Determine the spatial position and orientation of the central axis of the probe puncture hole according to the posture of the laparoscopic ultrasound probe and the position of the probe puncture hole on the laparoscopic ultrasound probe, and use the central axis as a puncture reference line located in the ultrasound imaging plane; and / or, Obtain the spatial position of the target area; determine at least one puncture path that is located in the ultrasound imaging plane and can pass through the probe puncture hole and reach the target area based on the spatial position of the target area, the posture of the laparoscopic ultrasound probe, and the position of the probe puncture hole on the laparoscopic ultrasound probe, and use the at least one puncture path as the at least one puncture reference line.

6. The method according to claim 1, wherein The guidance image includes: a two-dimensional guidance image and / or a three-dimensional guidance image.

7. The method according to claim 6, wherein Generating a guidance image based at least on the spatial position and orientation of the puncture reference line and the spatial position and orientation of the puncture direction guide line includes: Mapping the spatial position and orientation of the puncture reference line and the spatial position and orientation of the puncture direction guide line to a one- or two-dimensional plane to obtain a two-dimensional guidance image; and / or, According to the spatial position and orientation of the puncture reference line and the spatial position and orientation of the puncture direction guide line, three-dimensional modeling is performed to obtain a three-dimensional guiding image.

8. The method according to claim 6, wherein Also includes: Acquire an ultrasound image obtained by scanning the target tissue with the laparoscopic ultrasound probe; displaying the ultrasound image; The three-dimensional guidance image and the ultrasound image are displayed on the same screen, and / or the two-dimensional guidance image and the ultrasound image are displayed in a superimposed manner.

9. The method according to claim 1, wherein Generating a guidance image based at least on the spatial position and orientation of the puncture reference line and the spatial position and orientation of the puncture direction guide line includes: A guidance image is generated based on the posture of the laparoscopic ultrasound probe, the posture of the interventional device, the spatial position and orientation of the puncture reference line, and the spatial position and orientation of the puncture direction guide line; the guidance image also includes: a laparoscopic ultrasound probe image and an interventional device image; the laparoscopic ultrasound probe image is used to reflect the posture of the laparoscopic ultrasound probe, and the interventional device image is used to reflect the posture of the interventional device.

10. The method according to claim 1, wherein Also includes: Get the spatial position of the target area; The target area is displayed on the guide image.

11. The method according to claim 10, wherein The obtaining of the spatial position of the target area includes: Acquiring an ultrasonic image obtained by performing ultrasonic scanning with the laparoscopic ultrasonic probe; Based on the ultrasound image, the target area where the puncture target is located is determined, and the spatial position of the target area is obtained according to the target area; or, a preset position is used as the spatial position of the target area, and the preset position is a fixed position on the ultrasound image obtained by the laparoscopic ultrasound probe performing ultrasound scanning.

12. The method according to claim 11, wherein The determining of a target area where a puncture target is located based on the ultrasound image includes: identifying the target area from the ultrasound image; or, The ultrasound image is displayed, and an operation of setting a target area by a user is received, thereby determining the target area on the ultrasound image.

13. The method according to claim 1, wherein Also includes: Acquiring an ultrasonic image obtained by performing ultrasonic scanning with the laparoscopic ultrasonic probe; Segmenting at least one anatomical structure from the ultrasound image to obtain an anatomical structure image; The anatomical structure image is displayed in the guidance image.

14. The method according to claim 9, wherein Also includes: Determining the posture of the probe puncture hole according to the posture of the laparoscopic ultrasound probe and the position and size of the probe puncture hole on the laparoscopic ultrasound probe; A probe puncture hole image is displayed on the laparoscopic ultrasound probe image according to the posture of the probe puncture hole, and the probe puncture hole image is used to reflect the posture of the probe puncture hole.

15. The method according to claim 1, wherein Also includes: Determine whether the interventional device is facing the probe puncture hole, and if not, output corresponding prompt information.

16. The method according to claim 15, wherein The determining whether the interventional device is facing the probe puncture hole includes: Determine the position of the probe puncture hole according to the position of the laparoscopic ultrasound probe and the position of the probe puncture hole on the laparoscopic ultrasound probe; determine whether the puncture direction guide line completely passes through the probe puncture hole according to the position of the probe puncture hole and the puncture direction guide line, and if so, determine that the interventional device is facing the probe puncture hole; otherwise, determine that the interventional device is not facing the probe puncture hole; or The angle between the puncture direction guide line and the puncture reference line is calculated to determine whether the angle exceeds a preset angle. If so, it is determined that the interventional device is not facing the probe puncture hole.

17. The method according to claim 10, wherein Also includes: Determine whether the interventional device is facing the target area, and if not, output corresponding prompt information.

18. The method according to claim 1, wherein Also includes: Acquiring an ultrasonic image obtained by performing ultrasonic scanning with the laparoscopic ultrasonic probe; identifying a puncture risk area from the ultrasound image, or displaying the ultrasound image and determining the puncture risk area based on a user's operation on the ultrasound image; The puncture risk area is displayed on the guidance image.

19. The method according to claim 18, wherein Also includes: Determine whether the interventional device is facing the puncture risk area, and if so, output corresponding prompt information.

20. The method of claim 1, wherein Also includes: It is determined whether the interventional device is directed toward an area other than the probe puncture hole on the laparoscopic ultrasound probe. If so, a corresponding prompt message is output.

21. An ultrasonic puncture guidance method, characterized in that: include: Obtaining the posture of the ultrasound probe and the spatial position of the puncture guide device; Determining the spatial position and orientation of at least one puncture reference line within the ultrasound imaging plane based on the posture of the ultrasound probe and the position of the probe puncture hole on the ultrasound probe; the puncture reference line or an extension of the puncture reference line passes through the probe puncture hole, and the puncture reference line is used to guide the interventional device to pass through the probe puncture hole; According to the spatial position of the puncture guide device and the puncture reference line, information for presenting the relative positional relationship between the puncture guide device and the puncture reference line is output.

22. The method according to claim 21, wherein Outputting information for presenting a relative positional relationship between the puncture guide device and the puncture reference line based on the spatial position of the puncture guide device and the puncture reference line includes: determining, based on the spatial position of the puncture guiding device, whether the puncture guiding device is on the puncture reference line or on an extension of the puncture reference line, and outputting corresponding prompt information if so, and / or outputting corresponding prompt information if not; and / or, A guide image is generated and displayed based on the spatial position of the puncture guide device and the spatial position and orientation of the puncture reference line; the guide image includes: an identifier of the puncture guide device and the puncture reference line to present the relative positional relationship between the puncture guide device and the puncture reference line.

23. The method according to claim 21, wherein The puncture reference line is a puncture path along which the interventional device can pass through the probe puncture hole.

24. The method of claim 21, wherein: The step of determining at least one puncture reference line located in an ultrasound imaging plane according to the posture of the ultrasound probe and the position of the probe puncture hole on the ultrasound probe comprises: According to the posture of the ultrasound probe and the position of the probe puncture hole on the ultrasound probe, the spatial position of the central axis of the probe puncture hole is determined, and the central axis is used as a puncture reference line located in the ultrasound imaging plane.

25. The method of claim 21, wherein The step of determining at least one puncture reference line located in an ultrasound imaging plane according to the posture of the ultrasound probe and the position of the probe puncture hole on the ultrasound probe comprises: Obtain the spatial position of the target area; determine at least one puncture path located in the ultrasound imaging plane and capable of passing through the probe puncture hole and reaching the target area based on the spatial position of the target area, the posture of the ultrasound probe, and the position of the probe puncture hole on the ultrasound probe, and use the at least one puncture path as the at least one puncture reference line.

26. An ultrasonic puncture guidance method, characterized in that: include: Obtaining the position of the ultrasound probe and the position of the interventional device; Determining the spatial position and orientation of at least one puncture reference line within the ultrasound imaging plane based on the posture of the ultrasound probe and the position of the probe puncture hole on the ultrasound probe; the puncture reference line or an extension of the puncture reference line passes through the probe puncture hole, and the puncture reference line is used to guide the interventional device to pass through the probe puncture hole; Determine the spatial position and orientation of a puncture direction guide line according to the posture of the interventional device; the puncture direction guide line is used to indicate the orientation of the interventional device; generating a guidance image and displaying the guidance image based at least on the spatial position and orientation of the puncture reference line and the spatial position and orientation of the puncture direction guide line; The guide image includes: a puncture reference line and a puncture direction guide line; wherein the positional relationship and orientation of the puncture reference line and the puncture direction guide line on the guide image reflect the spatial positional relationship and orientation of the puncture reference line and the puncture direction guide line.

27. An ultrasonic imaging device, characterized in that: include: Memory, used to store programs; A processor, configured to execute the program to implement the method according to any one of claims 1 to 26.

28. A computer-readable storage medium, characterized in that The medium stores a program, which can be executed by a processor to implement the method according to any one of claims 1 to 26.

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