Arterial blood collecting and positioning method and system with space visualization function

Abstract

The invention provides an arterial blood collecting and positioning method and system with a space visualization function, relates to the technical field of medical treatment, and aims at solving the technical problem that in the related technology, accurate mapping of the three-dimensional position of an artery to the body surface and visual space guiding are lacked. The method comprises the following steps: acquiring spatial position data of a plurality of mark points arranged in a predetermined area; acquiring ultrasonic image data of the artery to be acquired, and acquiring spatial position data of the corresponding ultrasonic probe when the ultrasonic image data is acquired; based on the ultrasonic image data, determining a target area for blood sample collection in the artery; based on the position of the target area in the ultrasonic image data and the spatial position data of the ultrasonic probe, determining the three-dimensional spatial position data of the target area relative to the mark point; based on the three-dimensional space position data of the target area relative to the mark point and a preset needle inserting angle, target needle inserting point position data on the skin surface are determined; and generating spatial visualization data and outputting positioning guide data.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of medical technology, and in particular to an arterial blood collection and positioning method and system with spatial visualization function. Background Art

[0002] Arterial blood gas analysis is an important test method in the clinical diagnosis and treatment process, and is widely used in the fields of respiratory diseases, acid-base imbalance, critical care, etc. However, arterial blood collection is more challenging than venous blood collection. The diameter of arterial vessels is relatively small, the anatomical location is deep, and there are individual differences. In some specific populations, such as obese patients, edema patients, hypovolemic patients or patients with atherosclerosis, arterial pulses may be difficult to palpate. The traditional puncture method that relies on palpation and experience has a low success rate and may lead to multiple attempts, increasing the risk of complications such as tissue damage, hematoma formation, and nerve damage.

[0003] To improve the success rate of arterial puncture, several assistive technologies have been introduced into clinical practice. Doppler ultrasound can detect blood flow signals within vessels and assist with positioning through sound, but it cannot provide precise spatial location and depth information, making it difficult to use for accurate puncture guidance. Two-dimensional ultrasound imaging technology can display cross-sectional or longitudinal images of blood vessels on a screen in real time, allowing the operator to roughly determine the location and depth of the vessel by observing the image. However, two-dimensional ultrasound images only provide information from specific sections. The operator must mentally map the two-dimensional image information to the actual three-dimensional anatomical structures and estimate the direction and depth required for the needle to reach the vessel from the surface insertion point. This positioning method, which relies on the operator's experience and spatial visualization, still struggles to ensure puncture accuracy and success rate in complex or atypical anatomical situations. Accurately mapping the vessel location shown in two-dimensional ultrasound images to specific points on the skin surface and providing intuitive three-dimensional spatial guidance remains a challenge facing current technology. Summary of the Invention

[0004] The embodiments of the present application provide an arterial blood collection and positioning method and system with spatial visualization function, which is used to improve the technical problems in related technologies, such as arterial blood collection and positioning relying on experience and subjective judgment, and lacking the ability to accurately map the three-dimensional position of the artery to the body surface and provide intuitive spatial guidance.

[0005] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions: In a first aspect, the present application provides an arterial blood collection and positioning method, comprising: acquiring spatial position data of a plurality of marking points set in a predetermined area; acquiring ultrasonic image data of the artery to be collected, and synchronously acquiring spatial position data of the ultrasonic probe corresponding to the acquisition of the ultrasonic image data; determining a target area in the artery for blood sample collection based on the ultrasonic image data; determining three-dimensional spatial position data of the target area relative to the marking point based on the position of the target area in the ultrasonic image data and the spatial position data of the ultrasonic probe; determining target needle insertion point position data on the skin surface based on the three-dimensional spatial position data of the target area relative to the marking point and a preset needle insertion angle; generating spatial visualization data, the spatial visualization data including a virtual image representing the marking point, the skin surface, and the target needle insertion point; and outputting positioning guidance data, the positioning guidance data being generated based on the spatial visualization data.

[0006] In this way, the precise three-dimensional position of the artery can be objectively determined and spatially associated with the surface markers, thereby calculating the optimal surface needle insertion point. Through spatial visualization and guidance, the subjectivity and uncertainty of traditional methods are overcome, providing an accurate positioning basis.

[0007] In a possible implementation of the first aspect, the target needle insertion point position data on the skin surface is determined based on the three-dimensional spatial position data of the target area relative to the marker point and the preset needle insertion angle, including: determining the virtual plane of the skin surface based on the spatial position data of the marker point; determining the depth data of the target area relative to the virtual plane of the skin surface; and determining the target needle insertion point position data based on the depth data, the preset needle insertion angle and predetermined horizontal offset direction data.

[0008] In a possible implementation manner of the first aspect, the predetermined horizontal offset direction data is determined based on a relative positional relationship between a projection position of the target area on the virtual plane and a geometric center of the marker point set.

[0009] In a possible implementation of the first aspect, before or while determining the target area in the artery for blood sample collection based on the ultrasound image data, it also includes: acquiring characteristic data of tissue around the artery based on the ultrasound image data; calculating angle adjustment factor data based on the characteristic data; and correcting the preset needle insertion angle based on the angle adjustment factor data, and using the corrected needle insertion angle to determine the target needle insertion point position data.

[0010] In a possible implementation of the first aspect, acquiring the characteristic data of the tissue around the artery based on the ultrasound image data includes: determining ultrasound image texture characteristic data of a predetermined area around the artery; or determining contrast characteristic data between the arterial lumen and surrounding tissue.

[0011] In a possible implementation of the first aspect, the calculating the angle adjustment factor data based on the feature data includes: determining tissue density index data based on the ultrasound image texture feature data; or determining blood vessel visibility score data based on the contrast feature data; and using a preset formula to calculate the angle adjustment factor data based on the tissue density index data or the blood vessel visibility score data.

[0012] In a possible implementation of the first aspect, determining the target area in the artery for blood sample collection based on the ultrasound image data includes: processing the ultrasound image of the artery to obtain boundary data of the arterial lumen; and determining the centroid of the lumen area as the target area based on the boundary data.

[0013] In a possible implementation of the first aspect, the generating of spatial visualization data includes: generating virtual surface data representing the skin surface; generating virtual marker point data representing the positions of the multiple marker points; and generating virtual needle insertion point data representing the position of the target needle insertion point; and combining the virtual surface data, the virtual marker point data and the virtual needle insertion point data in three-dimensional space.

[0014] In a possible implementation of the first aspect, the outputting of the positioning guidance data includes: displaying the spatial visualization data on a display device; and superimposing a guidance mark or path indicating the target needle insertion point in the spatial visualization data.

[0015] In a second aspect, the present application provides an arterial blood collection and positioning system, comprising: a data acquisition module, configured to acquire spatial position data of multiple marking points set in a predetermined area, acquire ultrasonic image data of the artery to be collected, and synchronously acquire spatial position data of the ultrasonic probe corresponding to the acquisition of the ultrasonic image data; a data processing module, configured to determine the target area for blood sample collection in the artery based on the ultrasonic image data; determine the three-dimensional spatial position data of the target area relative to the marking point based on the position of the target area in the ultrasonic image data and the spatial position data of the ultrasonic probe; and determine the target needle insertion point position data on the skin surface based on the three-dimensional spatial position data of the target area relative to the marking point and a preset needle insertion angle; a visualization module, configured to generate spatial visualization data, the spatial visualization data including a virtual image representing the marking point, the skin surface and the target needle insertion point; and an output module, configured to output positioning guidance data, the positioning guidance data being generated based on the spatial visualization data. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the structure of a collection and positioning system provided in some embodiments of the present application; Figure 2 A flowchart of a collection and positioning method provided in some embodiments of the present application. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0018] Hereinafter, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0019] In addition, in this application, directional terms such as "up", "down", "left", and "right" may be defined including but not limited to the orientation relative to the schematic placement of the components in the drawings. It should be understood that these directional terms may be relative concepts. They are used for relative descriptions and clarifications, and they may change accordingly according to changes in the orientation of the components in the drawings.

[0020] In this application, unless otherwise specified or limited, the term "connection" should be understood broadly. For example, "connection" can mean fixed connection, detachable connection, or integration; it can mean direct connection or indirect connection through an intermediate medium. In addition, the term "electrical connection" can refer to the method of electrical connection that enables signal transmission.

[0021] As used herein, “about,” “substantially,” or “approximately” includes the stated value and reference values ​​that are within an acceptable range of deviation from the particular value, as determined by one of ordinary skill in the art taking into account the measurements in question and the errors associated with the measurement of the particular quantity (i.e., the limitations of the measurement method).

[0022] This disclosure provides an arterial blood collection and positioning method and system with spatial visualization capabilities. By fusing multi-source spatial data with medical imaging data, the system achieves precise three-dimensional positioning of the artery. This three-dimensional arterial position information is mapped to the target needle insertion point on the skin surface, providing intuitive spatial visualization and positioning guidance. This application can improve the success rate and safety of arterial blood collection, especially in situations where the artery is difficult to access or visualize.

[0023] Figure 1 FIG. 1 shows a schematic block diagram of an arterial blood collection and positioning system according to an embodiment of the present disclosure. Figure 1 As shown, the system may include a data acquisition module 110, a data processing module 120, a visualization module 130, and an output module 140. It is understood that these modules may be independent hardware units, or software modules integrated in the same computing device, or a combination thereof.

[0024] The data acquisition module 110 is configured to acquire various types of spatial data and medical imaging data. For example, it can acquire spatial position data for multiple markers located in a predetermined area. The predetermined area can be the skin surface of a patient undergoing arterial blood sampling. The markers can be optical markers, electromagnetic markers, or other markers that can be identified and located by an external tracking device. The data acquisition module 110 can acquire the three-dimensional coordinates of these markers relative to a reference coordinate system (e.g., the global coordinate system of the tracking system) using an optical tracking system, an electromagnetic tracking system, or other spatial positioning system.

[0025] For example, three or more optical markers are placed on the patient's forearm. Data acquisition module 110 is connected to an optical tracking camera to acquire a set of three-dimensional coordinate data for each marker in the camera's coordinate system in real time. This spatial position data serves as the basis for subsequently determining the skin surface plane and establishing a spatial reference.

[0026] The data acquisition module 110 is further configured to acquire ultrasonic image data of the artery to be acquired, and simultaneously acquire the spatial position data of the ultrasonic probe corresponding to the acquisition of the ultrasonic image data. The ultrasonic image data may be two-dimensional ultrasonic image data, used to display a cross-section or longitudinal section of the artery. The ultrasonic probe spatial position data represents the position and posture of the ultrasonic probe relative to the aforementioned reference coordinate system (for example, using a tracking marker attached to the ultrasonic probe or a built-in sensor). The data acquisition module 110 may include an ultrasonic imaging device and an ultrasonic probe integrated with a spatial positioning system. At the instant of ultrasonic image acquisition, the system synchronously records the instantaneous three-dimensional position and posture of the ultrasonic probe in the reference coordinate system (e.g., represented as a homogeneous transformation matrix).

[0027] For example, an ultrasound probe is connected to an optical tracking system. As the operator moves the probe for scanning, the system captures ultrasound images at a rate of tens of frames per second and simultaneously records the position and posture of the optical markers on the probe in the tracking system's coordinate system. Through pre-calibrated probe-marker alignment, the real-time position and posture of the ultrasound image plane relative to the tracking system's coordinate system are determined. It can be understood that this ultrasound image data and the synchronized ultrasound probe spatial position data are the basis for three-dimensional artery localization.

[0028] Data processing module 120 is configured to receive the various data provided by data acquisition module 110 and process them to determine the precise location of the artery and the target needle insertion point. Data processing module 120 first determines the target area within the artery for blood sampling based on the ultrasound image data. The target area can be the geometric center (centroid) of the arterial lumen, the point of maximum blood flow, or another point specified by the physician.

[0029] Exemplarily, the data processing module 120 performs image processing on the acquired ultrasound image data, such as applying threshold segmentation, edge detection, or region growing algorithms, to identify and delineate the boundaries of the arterial lumen. The centroid of this lumen region is then calculated. The two-dimensional pixel coordinates (u, v) of this centroid and its depth information (d) in the ultrasound image are determined as the location data of the target region.

[0030] The data processing module 120 determines the three-dimensional spatial position data of the target area relative to the marker point based on the position of the target area in the ultrasound image data (eg, pixel coordinates and depth) and the spatial position data of the ultrasound probe (eg, transformation matrix).

[0031] Exemplarily, the ultrasound probe's internal calibration parameters are used to convert the target area's two-dimensional image position and depth information into three-dimensional coordinates relative to the ultrasound probe coordinate system. Using the simultaneously acquired ultrasound probe's transformation matrix relative to the reference coordinate system, the target area's three-dimensional coordinates are converted from the probe coordinate system to the reference coordinate system (i.e., the coordinate system where the marker points reside). The result is the three-dimensional spatial position data of the target area relative to the marker points. Assume that the coordinates of the target area in the probe coordinate system are (x_p, y_p, z_p), where z_p corresponds to the depth. The ultrasound probe's pose in the reference coordinate system is given by the homogeneous transformation matrix T_tracker_probe. The target area's three-dimensional position (x_artery, y_artery, z_artery) in the reference coordinate system is obtained by matrix multiplication: [x_artery, y_artery, z_artery, 1]^T = T_tracker_probe * [x_p, y_p, z_p, 1]^T.

[0032] In some embodiments, the data processing module 120 further determines target needle insertion point location data on the skin surface based on the three-dimensional spatial position data of the target area relative to the marker point and a preset needle insertion angle. This step maps the target three-dimensional position of the artery to a two-dimensional or three-dimensional point on the skin surface, which serves as the ideal entry point for the needle to puncture the skin.

[0033] Exemplarily, a virtual plane of the skin surface is determined based on the spatial position data of the marker points. For example, a least squares method or a RANSAC algorithm can be used to fit a plane equation representing the skin surface (ax + by + cz + d = 0) based on the acquired three-dimensional coordinates of the multiple marker points. Depth data of the target area (arterial target point) relative to the virtual plane of the skin surface is determined. This can be achieved by calculating the perpendicular distance from the three-dimensional coordinates of the arterial target point to the fitted skin plane. Exemplarily, depth = |ax_artery + by_artery + cz_artery + d| / sqrt(a^2 + b^2 + c^2).

[0034] The target needle insertion point position data is determined based on the depth data, the preset needle insertion angle, and the predetermined horizontal offset direction data. The preset needle insertion angle is a desired angle of the needle tip relative to the skin plane normal (e.g., 45 degrees or an angle set based on clinical experience). Based on geometric relationships, when the needle punctures the target needle insertion point on the skin surface at this angle and reaches the target artery point, the horizontal distance (offset distance) between the projection of the target needle insertion point on the skin plane and the projection of the artery target point on the skin plane can be calculated using the depth and the needle insertion angle: offset distance = depth / tan(preset needle insertion angle). The predetermined horizontal offset direction data is the direction in which the offset distance acts on the skin plane.

[0035] In one embodiment, the predetermined horizontal offset direction data may be determined based on a relative positional relationship between a projection position of the target area on the virtual plane and a geometric center of the marker point set.

[0036] Exemplarily, the centroid of the projection points of all marker points on the skin plane and the projection point of the arterial target point on the skin plane are calculated. The horizontal offset direction is the unit vector of the direction vector pointing from the projection point to the centroid of the marker point. Optionally, the predetermined horizontal offset direction data can be determined based on the projection direction of the axis of the artery on the virtual plane, for example, perpendicular to the projection direction. After determining the offset distance and offset direction, the projection point of the arterial target point on the skin plane is moved along the horizontal offset direction by the offset distance to obtain the position of the target needle entry point on the skin plane. The target needle entry point position data can be its three-dimensional coordinates in the reference coordinate system (its z coordinate will coincide with the skin plane).

[0037] For example, the artery projection point is P_proj, the marker centroid projection is C_markers_proj, and the offset direction unit vector is v_offset = (C_markers_proj - P_proj) / ||C_markers_proj - P_proj||. The target needle insertion point E = P_proj + (depth / tan(preset needle insertion angle)) * v_offset.

[0038] In an optional embodiment, the data processing module 120 is further configured with a correction mechanism for adjusting the preset needle insertion angle based on the acquired tissue feature data to improve positioning accuracy or puncture success rate. Before or simultaneously with determining the target area within the artery for blood sample collection based on the ultrasound image data, the data processing module 120 may acquire feature data of the tissue surrounding the artery based on the ultrasound image data. The feature data may reflect information such as tissue density, hardness, or clarity and visibility of blood vessels. Acquiring the feature data of the tissue surrounding the artery may include determining ultrasound image texture feature data of a predetermined area around the artery (e.g., pixel intensity variance, entropy, contrast, etc., reflecting tissue uniformity or density) or determining contrast feature data between the arterial lumen and surrounding tissue (reflecting the clarity of blood vessel boundaries).

[0039] For example, a circular or square region surrounding the arterial lumen is selected in the ultrasound image, and the variance of the pixel intensities within this region is calculated as the ultrasound image texture feature data. Alternatively, the average pixel intensity of the arterial lumen region is compared with the average pixel intensity of the surrounding tissue region immediately adjacent to the lumen to calculate the contrast value as the contrast feature data.

[0040] Based on the feature data, the data processing module 120 calculates angle adjustment factor data. The angle adjustment factor data is a single numerical value used to quantify the amount or ratio of adjustment required for the preset needle insertion angle. This angle adjustment factor data can be calculated using a preset formula based on the tissue density index data or the vessel visibility score data. The tissue density index data can map ultrasound image texture features (such as variance) to an index representing tissue density (e.g., index = k1 * variance), reflecting puncture resistance. The vessel visibility score data can map contrast features to a score (e.g., score = k2 * contrast), reflecting the confidence level of artery identification. The values ​​of k1 and k2 can be obtained through clinical experience or calibration based on pre-existing experimental data.

[0041] For example, the preset formula can be a linear combination: Angle Adjustment Factor = w_tissue * tissue density index + w_visibility * (1 - vessel visibility score). w_tissue and w_visibility are preset weighting coefficients, and (1 - vessel visibility score) indicates that the lower the visibility, the larger the adjustment factor. These weighting coefficients can be obtained through clinical experience or calibration based on pre-existing experimental data.

[0042] Based on the angle adjustment factor data, the preset needle insertion angle is modified, and the modified needle insertion angle is used to determine the target needle insertion point position data. The modification method can be addition or proportional adjustment.

[0043] For example, the corrected needle insertion angle = the original preset needle insertion angle + the adjustment coefficient * the angle adjustment factor. The adjustment coefficient is a system parameter that controls the magnitude of the adjustment. The corrected needle insertion angle is a fixed value used in subsequent target insertion point position calculations. This correction mechanism enables the system to adaptively adjust the optimal puncture angle based on real-time tissue conditions and vessel visibility, thereby improving success rates.

[0044] Visualization module 130 is configured to receive the target needle entry point location data and the marker point location data determined by data processing module 120 and generate spatial visualization data. The spatial visualization data includes a virtual image representing the marker point, the skin surface, and the target needle entry point. Visualization module 130 can construct a geometric representation of these elements in a virtual three-dimensional scene.

[0045] Exemplarily, generating spatial visualization data includes generating virtual surface data representing the skin surface (e.g., a plane model fitted based on the marker points), generating virtual marker point data representing the positions of the multiple marker points (e.g., placing a sphere model at the three-dimensional coordinates of the marker points), and generating virtual needle insertion point data representing the position of the target needle insertion point (e.g., placing a cross mark or an indicating arrow model at the three-dimensional coordinates of the target needle insertion point). The virtual surface data, the virtual marker point data, and the virtual needle insertion point data are combined in three-dimensional space within a reference coordinate system to form complete virtual three-dimensional scene data.

[0046] Output module 140 is configured to output positioning guidance data generated based on the spatial visualization data. This positioning guidance data is used to assist the operator in aligning the needle with the target insertion point and performing puncture at a corrected or preset insertion angle. Outputting the positioning guidance data may include displaying the spatial visualization data on a display device and superimposing a guide marker or path indicating the target insertion point on the spatial visualization data.

[0047] For example, the system can render and display the three-dimensional scene on a monitor, allowing the operator to see virtual skin, markers, and the precisely indicated target needle entry point. The system can also display a highlighted marker at the target needle entry point or a virtual puncture path extending from the target needle entry point to the target arterial region (indicating the recommended puncture direction and depth), thereby providing intuitive visual guidance. Optionally, the output module can also provide voice prompts or other forms of guidance information.

[0048] Figure 2 FIG. 1 is a flow chart showing a method for collecting and positioning arterial blood according to an embodiment of the present disclosure. Figure 2 As shown, the method includes: S210: Acquire spatial position data of a plurality of marking points set in a predetermined area.

[0049] S220 , acquiring ultrasonic image data of the artery to be acquired, and synchronously acquiring spatial position data of the ultrasonic probe corresponding to the acquisition of the ultrasonic image data.

[0050] S230: Determine a target area in the artery for blood sample collection based on the ultrasound image data.

[0051] S240: Determine the three-dimensional spatial position data of the target area relative to the marker point based on the position of the target area in the ultrasound image data and the spatial position data of the ultrasound probe.

[0052] S250: Determine the target needle insertion point position data on the skin surface based on the three-dimensional spatial position data of the target area relative to the marking point and a preset needle insertion angle.

[0053] S260: Generate spatial visualization data, where the spatial visualization data includes a virtual image representing the marking point, the skin surface, and the target needle insertion point.

[0054] S270: Output positioning guidance data, where the positioning guidance data is generated based on the spatial visualization data.

[0055] Those skilled in the art will appreciate that the order of the steps in the above method can be adjusted according to actual circumstances, or some steps can be performed in parallel. For example, obtaining the spatial position data of the marker points and the spatial position data of the ultrasound image / probe can be performed simultaneously or alternately.

[0056] This application precisely maps the internal anatomical location of arteries to the body surface by accurately acquiring and fusing multi-source spatial data with ultrasound imaging data, overcoming the limitations of traditional methods that rely on experience and subjective judgment. By calculating the surface offset point based on depth and needle insertion angle, and correcting the angle based on tissue characteristics, it provides a definitive and quantifiable positioning guidance solution, improving the accuracy and success rate of arterial blood collection.

[0057] It will be understood by those skilled in the art that the above embodiments are intended to illustrate the present disclosure only and are not intended to limit the scope of the present disclosure. Various modifications and variations may be made to the above embodiments without departing from the spirit and scope of the present disclosure. Therefore, the scope of protection of the present disclosure shall be subject to the appended claims.

[0058] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0059] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0060] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units shown in this embodiment may be selected according to actual needs to achieve the purpose of this embodiment.

[0061] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware.

[0062] The above content is only a specific embodiment of this application, but the scope of protection of this application is not limited to this. Any changes or replacements within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An arterial blood collection and positioning method with spatial visualization function, characterized in that: include: Acquire spatial position data of a plurality of marking points set in a predetermined area; Acquire ultrasonic image data of the artery to be acquired, and simultaneously acquire spatial position data of the ultrasonic probe corresponding to the acquisition of the ultrasonic image data; determining a target area within the artery for blood sample collection based on the ultrasound image data; determining three-dimensional spatial position data of the target area relative to the marker point based on the position of the target area in the ultrasound image data and the spatial position data of the ultrasound probe; Determining target needle insertion point position data on the skin surface based on the three-dimensional spatial position data of the target area relative to the marking point and a preset needle insertion angle; generating spatial visualization data, the spatial visualization data including a virtual image representing the marker point, the skin surface, and the target needle insertion point; as well as Positioning guide data is output, where the positioning guide data is generated based on the spatial visualization data.

2. The method according to claim 1, characterized in that The determining of the target needle insertion point position data on the skin surface based on the three-dimensional spatial position data of the target area relative to the marking point and a preset needle insertion angle includes: determining a virtual plane of the skin surface based on the spatial position data of the marker points; determining depth data of the target area relative to a virtual plane of the skin surface; and The target needle insertion point position data is determined based on the depth data, the preset needle insertion angle and the predetermined horizontal offset direction data.

3. The method according to claim 2, characterized in that The predetermined horizontal offset direction data is determined based on a relative positional relationship between a projection position of the target area on the virtual plane and a geometric center of the marker point set.

4. The method according to claim 1, wherein Before or simultaneously with determining the target area for blood sample collection in the artery based on the ultrasound image data, the method further includes: acquiring characteristic data of tissue surrounding the artery based on the ultrasound image data; Calculating angle adjustment factor data based on the feature data; and Based on the angle adjustment factor data, the preset needle insertion angle is corrected, and the corrected needle insertion angle is used to determine the target needle insertion point position data.

5. The method according to claim 4, characterized in that The acquiring, based on the ultrasound image data, characteristic data of the tissue surrounding the artery includes: Determining ultrasound image texture feature data of a predetermined area around the artery; or Contrast characteristic data between the arterial lumen and surrounding tissue is determined.

6. The method according to claim 4, characterized in that The calculating the angle adjustment factor data based on the feature data includes: Determining tissue density index data based on the ultrasound image texture feature data; or determining blood vessel visibility score data based on the contrast feature data; and The angle adjustment factor data is calculated based on the tissue density index data or the blood vessel visibility score data.

7. The method according to claim 1, characterized in that Determining a target area in the artery for blood sample collection based on the ultrasound image data includes: Processing the ultrasonic image of the artery to obtain boundary data of the arterial lumen; and Based on the boundary data, the centroid of the inner cavity area is determined as the target area.

8. The method according to claim 1, characterized in that Generating spatial visualization data includes: generating virtual surface data representing the skin surface; generating virtual marker data representing the positions of the plurality of markers; and generating virtual needle insertion point data representing the target needle insertion point position; The virtual surface data, the virtual marking point data and the virtual needle insertion point data are combined in three-dimensional space.

9. The method according to claim 1, characterized in that The output positioning guidance data includes: displaying the spatial visualization data on a display device; and A guide mark or path indicating the target needle entry point is superimposed on the spatial visualization data.

10. An arterial blood collection and positioning system with spatial visualization function, characterized in that: include: a data acquisition module configured to acquire spatial position data of a plurality of marking points set in a predetermined area, acquire ultrasonic image data of the artery to be acquired, and synchronously acquire spatial position data of the ultrasonic probe corresponding to the acquisition of the ultrasonic image data; a data processing module configured to determine a target area within the artery for blood sample collection based on the ultrasound image data; and determine three-dimensional spatial position data of the target area relative to the marker point based on a position of the target area in the ultrasound image data and spatial position data of the ultrasound probe; and determining target needle insertion point position data on the skin surface based on the three-dimensional spatial position data of the target area relative to the marking point and a preset needle insertion angle; a visualization module configured to generate spatial visualization data, the spatial visualization data including a virtual image representing the marker point, the skin surface, and the target needle insertion point; as well as An output module is configured to output positioning guidance data, where the positioning guidance data is generated based on the spatial visualization data.

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