Puncture needle length measuring method and ultrasonic puncture guiding method

Abstract

The invention relates to a puncture needle length measuring method and an ultrasonic puncture guiding method. The measurement method comprises the following steps: determining first coordinate information of a puncture needle tip based on pose information of a puncture needle tail sent by a sensor and a preset puncture needle length input by a user; determining first screen coordinate information of the puncture needle tip based on the ultrasonic puncture enhanced image; converting the first screen coordinate information into second coordinate information, wherein the second coordinate information and the first coordinate information are coordinate information in the same coordinate system; based on the first coordinate information and the second coordinate information, the deviation distance of the puncture needle tip is obtained; and determining the length of the puncture needle based on the deviation distance and a preset puncture needle length. The actual length of the puncture needle can be obtained without manually measuring the length of the puncture needle, the operation convenience and accuracy are improved, and the puncture navigation precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical ultrasound imaging, in particular to a method for measuring the length of a puncture needle and a method for ultrasound puncture guidance. BACKGROUND

[0002] With the continuous development of medical imaging technology, puncture technology under ultrasound guidance has been widely used in clinical diagnosis and treatment, such as biopsy, drainage, local injection, etc. In the process of ultrasound-guided puncture, accurate positioning and navigation of the puncture needle are of great significance to improve the success rate of puncture and reduce complications.

[0003] Currently, there are two main ways of ultrasound-guided puncture: one is to directly observe the position of the puncture needle under B-mode image for guidance, but the puncture needle is not clear under B-mode image, which may lead to misjudgment of the position information of the needle tip of the puncture needle; the other is to install a sensor on the puncture needle, and to determine the position information of the needle tip of the puncture needle in real time according to the length of the puncture needle, wherein accurate measurement of the length of the puncture needle is a key factor to ensure the accuracy of puncture. The traditional method for measuring the length of the puncture needle mainly relies on manual measurement, i.e. the doctor measures the actual length of the puncture needle by using a ruler or other tools before use, and inputs the length value into the ultrasound system; however, this manual measurement method has problems such as complicated operation, large measurement error, and high requirement for the operation skills of the doctor.

[0004] There is a lack of a method for automatically and accurately measuring the actual length of the puncture needle in the prior art to improve the accuracy of puncture navigation. SUMMARY

[0005] Therefore, it is necessary to provide a method for automatically and accurately measuring the length of a puncture needle and a method for ultrasound puncture guidance in view of the above technical problems.

[0006] A method for measuring the length of a puncture needle, the method comprising: determining first coordinate information of a needle tip of the puncture needle based on pose information of a needle tail of the puncture needle sent by a sensor and a preset length of the puncture needle input by a user; determining first screen coordinate information of the needle tip of the puncture needle based on an ultrasound puncture enhanced image, wherein the ultrasound puncture enhanced image comprises an image of the puncture needle; converting the first screen coordinate information of the needle tip of the puncture needle into second coordinate information of the needle tip of the puncture needle, the second coordinate information being coordinate information in the same coordinate system as the first coordinate information; obtaining a deviation distance of the needle tip of the puncture needle based on the first coordinate information and the second coordinate information; and determining the length of the puncture needle based on the deviation distance and the preset length of the puncture needle.

[0007] In an embodiment, the determining the first coordinate information of the needle tip of the puncture needle based on the coordinate information of the tail of the puncture needle sent by the sensor and the preset length of the puncture needle input by the user comprises: accepting the coordinate information of the tail of the puncture needle sent by the sensor and the deflection angle of the puncture needle, and calculating the first coordinate information of the needle tip of the puncture needle based on the coordinate information of the tail of the puncture needle, the deflection angle of the puncture needle and the preset length of the puncture needle.

[0008] In an embodiment, the determining the first screen coordinate information of the needle tip of the puncture needle based on the ultrasound puncture enhanced image comprises: performing image recognition on the ultrasound puncture enhanced image, determining the position of the needle tip of the puncture needle, and determining the first screen coordinate information of the needle tip of the puncture needle based on the position of the needle tip of the puncture needle.

[0009] In an embodiment, the converting the first screen coordinate information into the second coordinate information of the needle tip of the puncture needle comprises: sequentially converting the first screen coordinate information into the probe coordinate system, the magnetic field coordinate system and the sensor coordinate system to obtain the second coordinate information.

[0010] In an embodiment, the determining the deviation distance of the needle tip of the puncture needle based on the first coordinate information and the second coordinate information comprises: calculating the distance between the first coordinate information and the second coordinate information according to a distance calculation formula to obtain the deviation distance of the needle tip of the puncture needle.

[0011] In an embodiment, the determining the length of the puncture needle based on the deviation distance and the preset length of the puncture needle comprises: in response to the second coordinate information being located outside the range of the first coordinate information and the coordinate information of the tail of the puncture needle, summing the deviation distance and the preset length of the puncture needle to obtain the actual length of the puncture needle; and in response to the second coordinate information being located within the range of the first coordinate information and the coordinate information of the tail of the puncture needle, subtracting the deviation distance from the preset length of the puncture needle to obtain the actual length of the puncture needle.

[0012] The application also provides an ultrasound puncture guiding method, which comprises: determining a lesion area in a B-mode image based on the B-mode image of a part to be examined; determining coordinate information of a needle tip of a puncture needle based on pose information of a tail of the puncture needle sent by a sensor and a length of the puncture needle determined by a measurement method of the length of the puncture needle; performing coordinate system conversion on the coordinate information of the needle tip of the puncture needle to obtain screen coordinate information of the needle tip of the puncture needle in the B-mode image; and performing puncture navigation based on the screen coordinate information of the needle tip of the puncture needle and position information of the lesion area.

[0013] In an embodiment, the determining the lesion region in the B-mode image based on the to-be-inspected part comprises: acquiring a CT image or an MR image of the to-be-inspected part, identifying and marking a lesion region in the CT image or the MR image; acquiring the B-mode image of the to-be-inspected part, fusing the B-mode image with the CT image or the MR image, and determining the lesion region in the B-mode image.

[0014] In an embodiment, the method further comprises fusing the B-mode image with the CT image or the MR image to determine the screen coordinate information of the needle tip in the CT image or the MR image; and the performing the puncture navigation based on the screen coordinate information of the needle tip and the position information of the lesion region further comprises: performing the puncture navigation based on the screen coordinate information of the needle tip in the CT image or the MR image and the position information of the lesion region in the CT image or the MR image.

[0015] In an embodiment, the coordinate system conversion of the coordinate information of the needle tip to obtain the screen coordinate information of the needle tip in the B-mode image comprises: sequentially converting the coordinate information of the needle tip in a magnetic field coordinate system, a probe coordinate system and a screen coordinate system to obtain the screen coordinate information of the needle tip in the B-mode image.

[0016] The application further provides a puncture needle length measuring device, which comprises: a first determining module configured to determine first coordinate information of a needle tip of a puncture needle based on pose information of a needle tail of the puncture needle and a preset puncture needle length; a second determining module configured to determine first screen coordinate information of the needle tip of the puncture needle based on an ultrasound puncture enhanced image, wherein the ultrasound puncture enhanced image comprises an image of the puncture needle; a first converting module configured to convert the first screen coordinate information of the needle tip of the puncture needle into second coordinate information of the needle tip of the puncture needle, wherein the second coordinate information and the first coordinate information are coordinate information in the same coordinate system; and a third determining module configured to obtain a deviation distance of the needle tip of the puncture needle based on the first coordinate information and the second coordinate information, and determine the length of the puncture needle based on the deviation distance and the preset puncture needle length.

[0017] The application further provides an ultrasound device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the puncture needle length measuring method or the ultrasound puncture guiding method when executing the computer program.

[0018] The beneficial effects of the present application are: the present application determines the first coordinate information of the puncture needle tip through the sensor and the preset puncture needle length, determines the first screen coordinate information of the puncture needle tip through the puncture enhancement algorithm, obtains the deviation of the current preset puncture needle length and the actual needle length based on the puncture enhancement auxiliary measurement, corrects the deviation, and does not need to manually measure the length of the puncture needle, so as to obtain the actual length of the puncture needle, improve the operation convenience and accuracy, have the characteristics of simple operation and small error, and can improve the accuracy of ultrasound-guided puncture and reduce the puncture error. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a flowchart of a puncture needle length measurement method in an embodiment;

[0020] Figure 2 It is a flowchart of a method of ultrasound puncture guidance in an embodiment;

[0021] Figure 3 It is a structural block diagram of a puncture needle length measurement device in an embodiment;

[0022] Figure 4 It is an internal structure diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0024] Embodiment one

[0025] The present application provides a puncture needle length measurement method, as shown in Figure 1 The method comprises the following steps:

[0026] Step 102, based on the pose information of the puncture needle tail sent by the sensor and the preset puncture needle length input by the user, determining the first coordinate information of the puncture needle tip.

[0027] Specifically, in the present embodiment, the sensor can be a magnetic field sensor, an optical sensor, an inertial sensor or a combination thereof. The magnetic field sensor determines the position and angle of the puncture needle tail by detecting the change of the external magnetic field, such as Hall effect sensor, magnetoresistance sensor and magnetic flux gate sensor, etc. The optical sensor captures the position and angle of the puncture needle through an optical imaging system, such as infrared sensor, laser sensor, etc. The inertial sensor determines the position and angle of the puncture needle by measuring acceleration and angular velocity, such as accelerometer, gyroscope, etc.

[0028] The pose information of the needle tail of the puncture needle is acquired through a sensor arranged at the needle tail of the puncture needle, the preset puncture needle length input by the user is acquired through a user input device, the coordinate information of the needle tip of the puncture needle is calculated based on the pose information of the needle tail of the puncture needle and the preset puncture needle length, the preset puncture needle length can be an arbitrary value input by the user and is not an actual measured length value, therefore, the coordinate information of the needle tip of the puncture needle calculated based on this can have an inaccuracy problem and needs to be subjected to deviation calculation in the following steps.

[0029] In step 104, the first screen coordinate information of the needle tip of the puncture needle is determined based on the ultrasound puncture enhanced image, wherein the ultrasound puncture enhanced image comprises an image of the puncture needle.

[0030] Specifically, the first screen coordinate information and the first coordinate information are coordinate information of the puncture needle at the same time, i.e., at the same position, obtained by different methods. The first coordinate information is determined based on the coordinate information obtained by the sensor, the angle information and the preset puncture needle length input by the user; the first screen coordinate information is determined according to the ultrasound puncture enhanced image obtained under the ultrasound puncture enhanced imaging mode (also referred to as ultrasound puncture enhancement technology), the position of the needle tip of the puncture needle is determined from the ultrasound puncture enhanced image displayed on the display screen, and the coordinate information of the needle tip of the puncture needle on the display screen is determined according to the position of the needle tip of the puncture needle.

[0031] In step 106, the first screen coordinate information of the needle tip of the puncture needle is converted into the second coordinate information of the needle tip of the puncture needle, and the second coordinate information and the first coordinate information are coordinate information in the same coordinate system.

[0032] Specifically, the first screen coordinate information is converted into coordinate information in the coordinate system of the sensor, so that the second coordinate information obtained after the conversion and the first coordinate information are in the same coordinate system.

[0033] In step 108, the deviation distance of the needle tip of the puncture needle is obtained based on the first coordinate information and the second coordinate information.

[0034] Specifically, the deviation distance of the needle tip of the puncture needle is obtained by calculating the distance between the first coordinate information and the second coordinate information.

[0035] In step 110, the length of the puncture needle is determined based on the deviation distance and the preset puncture needle length.

[0036] Specifically, it is first determined whether it is a positive deviation or a negative deviation, and then a corresponding sum or difference calculation is used to obtain the length of the puncture needle.

[0037] In some embodiments, step 102 can comprise: accepting the coordinate information of the needle tail of the puncture needle and the deflection angle of the puncture needle sent by the sensor, and calculating the first coordinate information of the needle tip of the puncture needle based on the coordinate information of the needle tail of the puncture needle, the deflection angle of the puncture needle and the preset puncture needle length.

[0038] Specifically, the sensor can adopt an electromagnetic tracking system, such as an NDI Aurora electromagnetic tracking system or an Ascension trakSTAR electromagnetic tracking system. These systems install a miniature sensor coil on the tail of the puncture needle, and externally set up a magnetic field generator. When the sensor coil moves in the magnetic field, an induced current is generated. The system can accurately calculate the position and direction of the sensor by analyzing these current signals.

[0039] The pose information can include coordinate information and angle information. The coordinate information obtained by the sensor generally includes three-dimensional space coordinates (x, y, z), and the angle information of the puncture needle includes a pitch angle (pitch), a yaw angle (yaw), and a roll angle (roll). After the processor receives this information, the first coordinate information of the tip of the puncture needle is calculated by vector calculation in combination with the preset puncture needle length input by the user.

[0040] For example, the coordinates of the tail of the puncture needle are (x0, y0, z0), the unit direction vector of the puncture needle is (dx, dy, dz), and the preset puncture needle length is L. The first coordinate information (x1, y1, z1) of the tip of the puncture needle can be calculated by the following formula:

[0041] x1= x0+L*dx

[0042] y1= y0+L*dy

[0043] z1= z0+L*dz

[0044] The unit direction vector (dx, dy, dz) can be calculated by the pitch angle θ and the yaw angle φ of the puncture needle.

[0045]

[0046] Through the above calculation, the first coordinate information of the tip of the puncture needle can be obtained. This coordinate information is calculated based on the sensor measurement and the preset puncture needle length.

[0047] In some embodiments, step 104 can include performing image recognition on the ultrasound puncture enhanced image, determining the position of the tip of the puncture needle, and determining the first screen coordinate information of the tip of the puncture needle based on the position of the tip of the puncture needle.

[0048] Specifically, the ultrasound puncture enhanced image obtained in the ultrasound puncture enhanced imaging mode is acquired, image recognition is performed on the ultrasound puncture enhanced image, the position of the tip of the puncture needle is determined, and the first screen coordinate information of the tip of the puncture needle is determined based on the position of the tip of the puncture needle.

[0049] Ultrasound puncture enhanced imaging mode can enhance the display effect of the puncture needle in the ultrasound image. Through special signal processing algorithm, the puncture needle is more clearly visible in the ultrasound puncture enhanced image. On this basis, various image processing algorithms such as Hough transform, edge detection, template matching or deep learning method are used for image recognition of the ultrasound puncture enhanced image. In actual application, the deep learning method can be used to roughly locate the puncture needle region, then the Hough transform is applied to accurately locate the puncture needle, and finally the position of the needle tip of the puncture needle is determined through morphological operation and brightness analysis to improve the recognition accuracy; after determining the position of the needle tip of the puncture needle, the pixel coordinates of the needle tip in the ultrasound image, i.e. the first screen coordinate information, can be obtained.

[0050] In some embodiments, step 106 can include sequentially converting the first screen coordinate information into the probe coordinate system, the magnetic field coordinate system and the sensor coordinate system to obtain the second coordinate information.

[0051] Specifically, the coordinate system conversion process involves transformation between multiple coordinate systems, which can be represented as:

[0052]

[0053] wherein is the second coordinate information, is the first screen coordinate information, S is a conversion matrix for converting the first screen coordinate information into the probe coordinate system, is a conversion matrix for converting the probe coordinate system into the magnetic field coordinate system, is a conversion matrix for converting the magnetic field coordinate system into the sensor coordinate system.

[0054] Conversion matrix from screen coordinate system to probe coordinate system It can be determined by the calibration parameters of the ultrasound probe. These parameters include pixel size, scanning depth, scanning width, etc. The matrix S can be:

[0055]

[0056] wherein, and are scaling factors of pixel to physical distance, and are translation amounts of coordinate origin.

[0057] Conversion matrix from probe coordinate system to magnetic field coordinate system It is usually obtained through the probe calibration process. In the calibration process, a special tool with a sensor is used to collect multiple groups of data at known positions, and then the conversion matrix is calculated through least squares method or other optimization algorithm. The matrix T can be:

[0058]

[0059] wherein, to are elements of a rotation matrix, , and are elements of a translation vector.

[0060] Conversion matrix from magnetic field coordinate system to sensor coordinate system is usually provided by the electromagnetic tracking system. This matrix describes the relationship between the global magnetic field coordinate system and the sensor local coordinate system. The matrix can be:

[0061]

[0062] wherein, to are elements of a rotation matrix, , and are elements of a translation vector.

[0063] Through the continuous application of the above conversion matrix, the first screen coordinate information of the puncture needle tip can be converted into second coordinate information in the same coordinate system as the first coordinate information.

[0064] In some embodiments, step 108 can include calculating the distance between the first coordinate information and the second coordinate information according to the distance calculation formula to obtain the deviation distance of the puncture needle tip.

[0065] Specifically, the deviation distance can be calculated by the distance between the first coordinate information and the second coordinate information , that is, In three-dimensional space, for example, the first coordinate information is , and the second coordinate information is , then the deviation distance can be calculated by the Euclidean distance formula:

[0066] .

[0067] In two-dimensional space, if only the x and y coordinates are considered, the deviation distance calculation formula is:

[0068] .

[0069] The deviation distance of the puncture needle tip is obtained by the distance calculation formula, and the deviation distance reflects the difference between the preset puncture needle length and the actual puncture needle length.

[0070] In some embodiments, step 110 can include: in response to the second coordinate information being outside the range of the first coordinate information and the coordinate information of the puncture needle tail, i.e. positive deviation, summing the deviation distance and the preset puncture needle length to obtain the actual length of the puncture needle; in response to the second coordinate information being within the range of the first coordinate information and the coordinate information of the puncture needle tail, i.e. negative deviation, subtracting the deviation distance from the preset puncture needle length to obtain the actual length of the puncture needle.

[0071] Specifically, the actual puncture needle length may be calculated by the formula , wherein is the preset puncture needle length, is the deviation distance. The plus or minus sign depends on the positional relationship of the second coordinate information relative to the first coordinate information and the coordinate information of the puncture needle tail .

[0072] Whether the second coordinate information is within the range of the first coordinate information and the coordinate information of the puncture needle tail can be determined by comparing coordinate values and / or vector directions.

[0073] Coordinate value comparison method: compare each component of the second coordinate information with the corresponding component of the first coordinate information and the coordinate information of the puncture needle tail. For example, the second coordinate information B(2, 4), the first coordinate information A(3, 6), and the coordinate information of the puncture needle tail C(1, 2), since the horizontal coordinate 2 of B is between the horizontal coordinate 3 of A and the horizontal coordinate 1 of C, and the vertical coordinate 4 of B is between the vertical coordinate 6 of A and the vertical coordinate 2 of C, B is within the range of A and C.

[0074] Vector direction comparison method: calculate the vector CA from C to A and the vector AB (or the vector CB from C to B) from A to B, and then compare the directions of these vectors. If the directions of vectors CA and AB (or CB) are opposite, then B is within the range of A and C; if the directions are the same, then B is outside the range of A and C.

[0075] Vector CA = A - C = (3-1, 6-2) = (2, 4)

[0076] Vector AB = B - A = (2-3, 4-6) = (-1, -2)

[0077] The direction relationship of vectors CA and AB can be determined by calculating the dot product of the vectors:

[0078] CA·AB = 2x(-1) + 4x(-2) = -2 - 8 = -10 < 0

[0079] Since the dot product is negative, it means that the directions of vectors CA and AB are opposite, so B is within the range of A and C, and the actual puncture needle length should be calculated using the formula L = m - y.

[0080] On the contrary, for example, the second coordinate information B(4, 8), the first coordinate information A(3, 6), and the puncture needle tail coordinate information C(1, 2), then:

[0081] Vector CA = A - C = (3-1, 6-2) = (2, 4)

[0082] Vector AB = B - A = (4-3, 8-6) = (1, 2)

[0083] CA·AB = 2x1 + 4x2 = 10 > 0

[0084] The dot product is positive, which means the directions are the same, and through coordinate value comparison, it can be found that the horizontal coordinate 4 of B is not between the horizontal coordinates 3 of A and 1 of C, and the vertical coordinate 8 of B is not between the vertical coordinates 6 of A and 2 of C, so B is outside the range of A and C, and the actual puncture needle length should be calculated using the formula L = m + y.

[0085] In practical applications, if the second coordinate information is not on the same straight line as the first coordinate information and the puncture needle tail coordinate information, the transformation matrix between the probe coordinate system, the magnetic field coordinate system, the sensor coordinate system, and the screen coordinate system can be automatically corrected. If the detection is still not on the same straight line after correction, the display interface can prompt the user that there may be magnetic field signal interference or puncture needle installation failure, and the user can check. Alternatively, the user can be prompted directly without correction.

[0086] Through the above method, the first coordinate information of the puncture needle tip can be obtained through the sensor and the preset puncture needle length, the first screen coordinate information of the puncture needle tip can be determined through the puncture enhancement image, the actual coordinate information of the puncture needle tip can be obtained based on the coordinate system transformation matrix, and the deviation distance can be calculated according to the actual coordinate information of the puncture needle tip and the first coordinate information of the puncture needle tip. By correcting the deviation, the actual length of the puncture needle can be obtained, without the need for manual measurement of the length of the puncture needle, the actual length of the puncture needle can be accurately measured, accurate puncture navigation information can be provided for doctors, and the safety and success rate of puncture operation can be improved.

[0087] It should be understood that, although Figure 1The steps in the flowchart are shown in sequence according to the arrows, but the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, the steps are not strictly limited in sequence, and the steps can be executed in other sequences. Moreover, Figure 1 At least part of the steps in the flowchart can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of the steps or stages is not necessarily sequential, but can be alternately executed with other steps or steps or stages in other steps.

[0088] Embodiment two

[0089] A method of ultrasound puncture guidance, as shown in Figure 2 The method comprises:

[0090] Step 202, based on the B-mode image of the part to be examined, determining the lesion area in the B-mode image.

[0091] Step 204, based on the pose information of the puncture needle tail sent by the sensor and the length of the puncture needle determined as in embodiment one, determining the coordinate information of the puncture needle tip.

[0092] Step 206, coordinate system conversion is performed on the coordinate information of the puncture needle tip to obtain the screen coordinate information of the puncture needle tip in the B-mode image.

[0093] Step 208, based on the screen coordinate information of the puncture needle tip and the position information of the lesion area, puncture navigation is performed.

[0094] In this embodiment, the B-mode image is a basic mode of ultrasound imaging, which forms a two-dimensional gray-scale image by displaying the echo intensity of the tissue interface, and can clearly display the tissue structure, which is convenient for doctors to identify the lesion area. Puncture navigation refers to a process of guiding the puncture needle to the target position under the guidance of ultrasound by displaying the relative position relationship between the puncture needle tip and the target lesion in real time, helping doctors to accurately guide the puncture needle to the target position. Puncture navigation technology is widely used in clinical operations such as biopsy, puncture drainage, local injection treatment, etc.

[0095] In some embodiments, step 202 can include:

[0096] Obtaining a CT image or MR image of the part to be examined, identifying and marking the lesion area in the CT image or MR image; obtaining a B-mode image of the part to be examined, fusing the B-mode image with the CT image or MR image, and determining the lesion area in the B-mode image.

[0097] Specifically, CT (Computed Tomography) and MR (Magnetic Resonance Imaging) can provide high-resolution anatomical images, which helps to accurately identify and locate lesions; manual segmentation, semi-automatic segmentation, and full-automatic segmentation methods are used in CT or MR images to identify lesion areas; after identifying the lesion area, contour marking or region filling can be used to mark the lesion area. Denoising, enhancement, and other processing are performed on B-mode ultrasound images and CT / MR images to improve image quality; significant feature points or feature regions are extracted from the two images, such as edges, corner points, and anatomical markers; the two images are aligned through rigid transformation (translation, rotation, scaling) or non-rigid transformation (elastic deformation), and the lesion area marked in the CT or MR image is accurately mapped to the B-mode ultrasound image, combining the advantages of ultrasound real-time and CT / MR high-resolution, to improve the accuracy of lesion positioning and provide accurate target position information for puncture navigation.

[0098] The method of the present embodiment can further include: fusing the B-mode image with the CT image or the MR image to determine the screen coordinate information of the puncture needle tip in the CT image or the MR image; and performing puncture navigation based on the screen coordinate information of the puncture needle tip in the CT image or the MR image and the position information of the lesion area in the CT image or the MR image.

[0099] Specifically, after fusing the B-mode image with the CT or MR image, not only can the lesion area be displayed in the B-mode image, but also the position information of the puncture needle tip can be mapped to the CT or MR image. This two-way mapping can provide a more comprehensive spatial position relationship, which helps doctors evaluate the puncture path and target position from multiple angles.

[0100] Puncture navigation can be presented in various ways, such as path planning, real-time trajectory display, distance measurement, angle indication, etc. The system can calculate the distance and direction of the puncture needle tip to the lesion center and prompt the doctor to adjust the puncture angle and depth through graphical or numerical means. At the same time, the system can also predict the forward trajectory of the puncture needle to help the doctor evaluate the safety of the puncture path.

[0101] In some embodiments, step 204 can include: obtaining coordinate information of the puncture needle tail and angle information of the puncture needle based on the sensor, obtaining the length of the puncture needle based on the method of embodiment one, and then obtaining the coordinate information of the puncture needle tip using the calculation method described in embodiment one.

[0102] In some embodiments, step 206 can include:

[0103] The coordinate information of the puncture needle tip is sequentially converted into the magnetic field coordinate system, the probe coordinate system, and the screen coordinate system to obtain the screen coordinate information of the puncture needle tip in the B-mode image.

[0104] Specifically, in the process of ultrasound puncture guidance, coordinate system conversion is the process of converting the coordinate information of the puncture needle tip from one coordinate system to another coordinate system, usually involving multiple coordinate systems, such as sensor coordinate system, magnetic field coordinate system, probe coordinate system and screen coordinate system.

[0105] Converting the coordinate information of the puncture needle tip from the sensor coordinate system to the screen coordinate system of the B-mode image requires the following conversions in sequence: sensor coordinate system to magnetic field coordinate system, magnetic field coordinate system to probe coordinate system, and probe coordinate system to screen coordinate system. Among them, the sensor coordinate system is a local coordinate system with the sensor as the reference, describing the position and direction of the sensor relative to itself; the magnetic field coordinate system is a global coordinate system with the magnetic field generator as the reference, describing the position and direction of all sensors in the magnetic field; the probe coordinate system is a coordinate system with the ultrasound probe as the reference, describing the positional relationship in the ultrasound image plane.

[0106] Through the above conversions, the coordinate information of the puncture needle tip can be converted from the sensor coordinate system to the screen coordinate system of the B-mode image, realizing the accurate positioning of the puncture needle tip on the ultrasound image.

[0107] In some embodiments, before step 204, it also includes: starting the puncture needle navigation.

[0108] Specifically, starting the puncture needle navigation means activating the puncture navigation function of the ultrasound device, making the system enter the puncture guidance mode. In this mode, the system will start the relevant hardware and software modules, prepare to receive and process the position information of the puncture needle, and display the trajectory and predicted path of the puncture needle on the ultrasound image.

[0109] Starting the puncture needle navigation usually includes the following steps:

[0110] System initialization: starting the electromagnetic tracking system, checking the connection status of the magnetic field generator and the sensor, and ensuring the normal work of the system.

[0111] Parameter setting: setting the type, length, diameter and other parameters of the puncture needle, which will be used for subsequent coordinate calculation and trajectory prediction.

[0112] Coordinate system calibration: calibrating the relationship between the ultrasound probe coordinate system and the magnetic field coordinate system to ensure the accuracy of coordinate conversion. The calibration methods include point-to-point calibration, face-to-face calibration or using special calibration tools.

[0113] Image mode selection: selecting the ultrasound image mode suitable for puncture guidance, such as B-mode, puncture enhancement mode or composite imaging mode.

[0114] Display settings: configure the display mode of the puncture needle trajectory, such as color, line type, transparency, etc., to clearly display the position and path of the puncture needle on the ultrasound image.

[0115] After starting the puncture needle navigation, the system will continuously monitor the position and direction of the puncture needle and update the display of the puncture needle on the ultrasound image according to real-time data, providing intuitive visual guidance for the doctor.

[0116] Through the above method, accurate ultrasound puncture guidance can be achieved, helping doctors to accurately locate lesions, improving puncture success rate and reducing the risk of complications.

[0117] It should be understood that, although Figure 2 the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Moreover, at least part of the steps can include multiple steps or multiple stages, which are not necessarily executed at the same time, and the execution order of these steps or stages is not necessarily sequential.

[0118] Example three

[0119] A puncture needle length measuring device, as shown in Figure 3 , the device comprises:

[0120] A first determination module is configured to determine the first coordinate information of the puncture needle tip based on the pose information of the puncture needle tail and the preset puncture needle length.

[0121] Specifically, the first determination module determines the first coordinate information of the puncture needle tip based on the pose information of the puncture needle tail obtained by the first acquisition module and the preset puncture needle length.

[0122] A second determination module is configured to determine the first screen coordinate information of the puncture needle tip based on the ultrasound puncture enhanced image, wherein the ultrasound puncture enhanced image includes the image of the puncture needle.

[0123] Specifically, the second determination module is responsible for identifying the position of the puncture needle tip from the ultrasound puncture enhanced image and determining its screen coordinate information. This module contains an image processing unit and a feature recognition algorithm, which can accurately locate the puncture needle tip through edge detection, Hough transformation or deep learning method.

[0124] A first conversion module converts the first screen coordinate information of the puncture needle tip into the second coordinate information of the puncture needle tip, and the second coordinate information and the first coordinate information are coordinate information in the same coordinate system.

[0125] Specifically, the first conversion module converts the screen coordinate information of the puncture needle tip into second coordinate information in the same coordinate system as the first coordinate information. The module includes a coordinate conversion unit to realize conversion between the screen coordinate system, the probe coordinate system, the magnetic field coordinate system, and the sensor coordinate system.

[0126] The third determination module is configured to obtain a deviation distance of the puncture needle tip based on the first coordinate information and the second coordinate information, and determine the length of the puncture needle based on the deviation distance and a preset puncture needle length.

[0127] Specifically, the third determination module calculates the deviation distance between the first coordinate information and the second coordinate information, and determines the actual length of the puncture needle based on the deviation distance and the preset puncture needle length. The module includes a distance calculation unit and a length determination unit, which can calculate the spatial distance according to the coordinate difference, and determine the actual puncture needle length according to the preset rules.

[0128] The puncture needle length measuring device can further include a first acquisition module connected with the sensor and the user input device, configured to receive the pose information of the puncture needle tail sent by the sensor and the preset puncture needle length input by the user through the input interface. The sensor can be a magnetic field sensor, an optical sensor, or an inertial sensor, installed at the tail position of the puncture needle, for real-time monitoring of the position and angle of the puncture needle; the user input device can be a touch screen, a keyboard, or a special control panel, allowing the doctor to input the preset length of the puncture needle.

[0129] The puncture needle length measuring device can further include a second acquisition module responsible for acquiring an ultrasound image with a puncture needle in an ultrasound puncture enhanced imaging mode; the ultrasound puncture enhancement technique is a special ultrasound imaging mode that enhances the display effect of the puncture needle in the ultrasound image through a signal processing algorithm, making the puncture needle more clearly visible.

[0130] The modules communicate with each other through a data bus and cooperate to complete the measurement process of the puncture needle length. The modules can be integrated into an ultrasound diagnostic device or used as independent additional modules with existing ultrasound diagnostic devices. Each functional module can be upgraded and maintained independently, with flexibility and scalability. The output result of the device can be displayed in real time on the display screen, providing accurate puncture needle length information for the doctor to assist in the puncture operation.

[0131] The specific limitations of the puncture needle length measuring device can be referred to the limitations of the puncture needle length measuring method described above, which will not be repeated here. Each module in the device can be realized by software, hardware, and their combination. Each module can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0132] Embodiment Four

[0133] An ultrasound device comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of the method of any one of Embodiments One to Two when executing the computer program.

[0134] In this embodiment, the ultrasound device is a device for medical diagnosis or intervention, which generates images of internal tissues of the human body by transmitting and receiving ultrasound waves. In addition to the conventional ultrasound imaging function, the ultrasound device integrates the functions of needle length measurement and puncture guidance, providing accurate navigation support for clinical puncture operations.

[0135] The hardware components of the ultrasound device include a host, an ultrasound probe, a display screen, a control panel, a memory, a processor, and an external interface, etc.

[0136] The host is the core part of the ultrasound device, which contains ultrasonic wave transmitting and receiving circuit, signal processing circuit, image processing unit and system control unit, etc.

[0137] The ultrasound probe is a device for transmitting and receiving ultrasonic waves, and different types of probes can be selected according to clinical needs, such as convex array probe, linear array probe, phased array probe, etc.

[0138] The display screen is used to display ultrasound images and puncture navigation information, usually using high-resolution liquid crystal display, supporting touch operation.

[0139] The control panel includes various keys, knobs and touch panels, which are used to control the functions and parameter settings of the ultrasound device.

[0140] The memory is used to store operating system, application program, ultrasound image data and patient information, etc. The memory can be divided into internal memory and external storage device, such as hard disk, solid state disk or U disk, etc.

[0141] The processor is the computing core of the ultrasound device, which is responsible for executing various algorithms and programs, processing ultrasound signals and image data, and realizing the functions of needle length measurement and puncture guidance. The processor can be a general-purpose CPU, or a dedicated digital signal processor (DSP) or graphics processor (GPU).

[0142] The external interface includes network interface, USB interface, HDMI interface, etc., which is used to connect external devices and data transmission.

[0143] The software system of the ultrasound device includes an operating system, device drivers, application programs, and a user interface, etc. The operating system can be a dedicated real-time operating system, or a customized version of a general-purpose operating system such as Windows or Linux. The application programs include an ultrasound imaging program, a puncture needle length measurement program, and a puncture guidance program, etc. The user interface is designed to be simple and intuitive, facilitating quick operation and information acquisition by doctors.

[0144] The ultrasound device can be applied to various clinical puncture operations such as biopsy, puncture drainage, local injection therapy, etc., improving the accuracy and safety of puncture operations and reducing the risk of complications.

[0145] In another embodiment, a computer device is provided, which can be a terminal, and an internal structure diagram thereof can be as shown in Figure 4 The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected through a system bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is configured to perform wired or wireless communication with external terminals. The wireless communication can be achieved through WIFI, a carrier network, NFC (Near Field Communication), or other technologies. The computer program is executed by the processor to implement a puncture needle length measurement method or an ultrasound puncture guidance method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball, or touchpad provided on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0146] Those skilled in the art can understand that Figure 4 The structure shown in the above embodiment is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0147] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as within the scope of the present disclosure.

[0148] The above embodiments only express several implementation ways of the present application, and the description is specific and detailed, but it should not be understood as a limitation to the patent scope of the application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method for measuring the length of a puncture needle, characterized in that: The method comprises: Determine first coordinate information of the puncture needle tip based on the position information of the puncture needle tail sent by the sensor and the preset puncture needle length input by the user; determining first screen coordinate information of the puncture needle tip based on the ultrasonic puncture enhanced image, wherein the ultrasonic puncture enhanced image includes an image of the puncture needle; Converting the first screen coordinate information of the puncture needle tip into second coordinate information of the puncture needle tip, where the second coordinate information and the first coordinate information are coordinate information in the same coordinate system; Obtaining a deviation distance of the puncture needle tip based on the first coordinate information and the second coordinate information; The length of the puncture needle is determined based on the deviation distance and the preset puncture needle length.

2. The method according to claim 1, characterized in that The determining of the first coordinate information of the puncture needle tip based on the position information of the puncture needle tail sent by the sensor and the preset puncture needle length input by the user includes: The coordinate information of the puncture needle tail and the deflection angle of the puncture needle sent by the sensor are received, and the first coordinate information of the puncture needle tip is calculated based on the coordinate information of the puncture needle tail, the deflection angle of the puncture needle and the preset puncture needle length.

3. The method according to claim 1, characterized in that The method of determining the first screen coordinate information of the puncture needle tip based on the ultrasonic puncture enhanced image comprises: Image recognition is performed on the ultrasonic puncture enhanced image to determine the position of the puncture needle tip, and first screen coordinate information of the puncture needle tip is determined based on the position of the puncture needle tip.

4. The method according to claim 1, wherein The converting the first screen coordinate information into the second coordinate information of the needle tip includes: The first screen coordinate information is sequentially transformed into a probe coordinate system, a magnetic field coordinate system, and a sensor coordinate system to obtain the second coordinate information.

5. The method according to claim 1, wherein The determining of the deviation distance of the puncture needle tip based on the first coordinate information and the second coordinate information includes: The distance between the first coordinate information and the second coordinate information is calculated according to a distance calculation formula to obtain the deviation distance of the puncture needle tip.

6. The method according to claim 1, characterized in that The determining the length of the puncture needle based on the deviation distance and the preset puncture needle length includes: In response to the second coordinate information being outside the range of the first coordinate information and the coordinate information of the needle end of the puncture needle, summing the deviation distance and the preset puncture needle length to obtain the actual length of the puncture needle; In response to the second coordinate information being within the range of the first coordinate information and the coordinate information of the needle end of the puncture needle, the deviation distance is subtracted from the preset puncture needle length to obtain the actual length of the puncture needle.

7. A method for ultrasound puncture guidance, characterized in that the method include: Determining a lesion area in the B-mode image based on the B-mode image of the part to be examined; Determine the coordinate information of the puncture needle tip based on the position information of the puncture needle tail sent by the sensor and the length of the puncture needle determined according to any method of claims 1 to 6; performing coordinate system transformation on the coordinate information of the puncture needle tip to obtain screen coordinate information of the puncture needle tip in the B-mode image; Puncture navigation is performed based on the screen coordinate information of the puncture needle tip and the position information of the lesion area.

8. The method according to claim 7, characterized in that: The determining of the lesion area in the B-mode image based on the B-mode image of the part to be examined includes: Obtaining a CT image or MR image of the part to be examined, identifying the lesion area in the CT image or the MR image, and marking it; The B-mode image of the part to be examined is acquired, the B-mode image is fused with the CT image or the MR image, and a lesion area in the B-mode image is determined.

9. The method according to claim 8, characterized in that: The method further includes fusing the B-mode image with the CT image or the MR image to determine screen coordinate information of the puncture needle tip in the CT image or the MR image; The puncture navigation based on the screen coordinate information of the puncture needle tip and the position information of the lesion area further includes: Puncture navigation is performed based on the screen coordinate information of the puncture needle tip in the CT image or the MR image and the position information of the lesion area in the CT image or the MR image.

10. The method according to claim 7, characterized in that: The coordinate system transformation of the coordinate information of the puncture needle tip to obtain the screen coordinate information of the puncture needle tip in the B-mode image includes: The coordinate information of the puncture needle tip is sequentially transformed into the magnetic field coordinate system, the probe coordinate system and the screen coordinate system to obtain the screen coordinate information of the puncture needle tip in the B-mode image.

11. A puncture needle length measuring device, characterized in that: The device includes: A first determining module is configured to determine first coordinate information of the puncture needle tip based on the posture information of the puncture needle tail and the preset puncture needle length; a second determining module, configured to determine first screen coordinate information of the puncture needle tip based on the ultrasonic puncture enhanced image, wherein the ultrasonic puncture enhanced image includes an image of the puncture needle; a first conversion module, converting the first screen coordinate information of the puncture needle tip into second coordinate information of the puncture needle tip, wherein the second coordinate information and the first coordinate information are coordinate information in the same coordinate system; The third determining module is configured to obtain a deviation distance of the puncture needle tip based on the first coordinate information and the second coordinate information, and determine the length of the puncture needle based on the deviation distance and the preset puncture needle length.

12. An ultrasound device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When a processor executes the computer program, the steps of the method according to any one of claims 1 to 10 are implemented.

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