Puncture needle length measurement method and ultrasonic puncture guidance method

Abstract

The application relates to a puncture needle length measurement 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 an ultrasonic puncture enhancement image; converting the first screen coordinate information into second coordinate information, wherein the second coordinate information is coordinate information in the same coordinate system as the first coordinate information; obtaining a deviation distance of the puncture needle tip 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 puncture needle length. According to the application, 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] This application relates to the field of medical ultrasound imaging, specifically to a method for measuring the length of a puncture needle and a method for ultrasound-guided puncture. Background Technology

[0002] With the continuous development of medical imaging technology, ultrasound-guided puncture techniques have been widely used in clinical diagnosis and treatment, such as biopsy, drainage, and local injection. During ultrasound-guided puncture, precise positioning and navigation of the puncture needle are crucial for improving the success rate and reducing complications.

[0003] Currently, there are two main methods for ultrasound-guided puncture: one is to directly observe the position of the puncture needle under B-mode imaging for guidance, but the puncture needle is not clear under B-mode imaging, which can lead to misjudgment of the position information of the puncture needle tip; the other is to install a sensor on the puncture needle to determine the position information of the puncture needle tip in real time based on the length of the puncture needle. Among these methods, accurate measurement of the puncture needle length is a key factor in ensuring puncture accuracy. The traditional method of measuring the length of the puncture needle mainly relies on manual measurement, that is, the doctor measures the actual length of the puncture needle with tools such as a ruler before use and inputs the length value into the ultrasound system; however, this manual measurement method has problems such as cumbersome operation and large measurement error, and requires a high level of operating skills from the doctor.

[0004] There is a lack of existing technologies that can automatically and accurately measure the actual length of the puncture needle to improve the accuracy of puncture navigation. Summary of the Invention

[0005] Therefore, it is necessary to provide a method for automatically and accurately measuring the length of the puncture needle and an ultrasonic puncture guidance method to address the above-mentioned technical problems.

[0006] A method for measuring the length of a puncture needle, the method comprising: determining first coordinate information of the puncture needle tip based on the pose information of the puncture needle tail transmitted 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 an ultrasound-enhanced puncture image, wherein the ultrasound-enhanced puncture 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, wherein 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; and determining the length of the puncture needle based on the deviation distance and the preset puncture needle length.

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

[0008] In one embodiment, determining the first screen coordinate information of the puncture needle tip based on the ultrasound puncture enhancement image includes: performing image recognition on the ultrasound puncture enhancement image to determine the position of the puncture needle tip, and determining the first screen coordinate information of the puncture needle tip based on the position of the puncture needle tip.

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

[0010] In one embodiment, determining the deviation distance of the puncture needle tip based on the first coordinate information and the second coordinate information includes: 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.

[0011] In one embodiment, 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 puncture needle tail, summing the deviation distance and the preset puncture needle length to obtain the actual length of the puncture needle; and 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, subtracting the deviation distance and the preset puncture needle length to obtain the actual length of the puncture needle.

[0012] This application also provides an ultrasound-guided puncture method, the method comprising: determining the lesion region in the B-mode image based on the B-mode image of the site to be examined; determining the coordinate information of the puncture needle tip based on the pose information of the puncture needle tail sent by the sensor and the length of the puncture needle determined by the aforementioned puncture needle length measurement method; performing coordinate system transformation 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; and performing puncture navigation based on the screen coordinate information of the puncture needle tip and the location information of the lesion region.

[0013] In one embodiment, determining the lesion region in the B-mode image based on the B-mode image of the site to be examined includes: acquiring a CT image or MR image of the site to be examined, identifying the lesion region in the CT image or MR image, and marking it; acquiring the B-mode image of the site to be examined, 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 one embodiment, the method further includes 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; the puncture navigation based on the screen coordinate information of the puncture needle tip and the location information of the lesion area further includes: performing puncture navigation based on the screen coordinate information of the puncture needle tip in the CT image or the MR image and the location information of the lesion area in the CT image or the MR image.

[0015] In one embodiment, the step of transforming 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: sequentially transforming the coordinate information of the puncture needle tip 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.

[0016] This application also provides a puncture needle length measuring device, the device comprising: a first determining module, configured to determine first coordinate information of the puncture needle tip based on the pose 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 an ultrasound puncture enhancement image, wherein the ultrasound puncture enhancement image includes an image of the puncture needle; a first conversion module, configured to convert 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; and a third determining module, configured to obtain the 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.

[0017] This application also provides an ultrasound device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the above-described method for measuring the length of the puncture needle or the method for ultrasound-guided puncture.

[0018] The beneficial effects of this application are as follows: This application determines the first coordinate information of the puncture needle tip through a sensor and a preset puncture needle length, determines the first screen coordinate information of the puncture needle tip through a puncture enhancement algorithm, and obtains the deviation between the current preset puncture needle length and the actual needle length based on puncture enhancement-assisted measurement. By correcting the deviation, the actual length of the puncture needle can be obtained without manually measuring the length of the puncture needle, thus improving the convenience and accuracy of operation. It has the characteristics of simple operation and small error, and can improve the accuracy of ultrasound-guided puncture and reduce puncture error. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating a method for measuring the length of a puncture needle in one embodiment;

[0020] Figure 2 This is a flowchart illustrating an ultrasound-guided puncture method in one embodiment;

[0021] Figure 3 This is a structural block diagram of a puncture needle length measuring device in one embodiment;

[0022] Figure 4 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0024] Example 1

[0025] This application provides a method for measuring the length of a puncture needle, such as... Figure 1 As shown, the method includes:

[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, determine the first coordinate information of the puncture needle tip.

[0027] Specifically, in this embodiment, the sensor can be a magnetic field sensor, an optical sensor, an inertial sensor, or a combination thereof. A magnetic field sensor determines the position and angle of the puncture needle tail by detecting changes in the external magnetic field, such as a Hall effect sensor, a magnetoresistive sensor, and a fluxgate sensor. An optical sensor captures the position and angle of the puncture needle through an optical imaging system, such as an infrared sensor or a laser sensor. An inertial sensor determines the position and angle of the puncture needle by measuring acceleration and angular velocity, such as an accelerometer or a gyroscope.

[0028] The position and orientation information of the puncture needle tail is obtained by a sensor installed at the needle tail. The preset puncture needle length input by the user is obtained through a user input device. The coordinate information of the puncture needle tip is calculated based on the position and orientation information of the puncture needle tail and the preset puncture needle length. The preset puncture needle length can be any value input by the user, not the actual measured length. Therefore, the coordinate information of the puncture needle tip calculated based on this may be inaccurate and requires deviation calculation in subsequent steps.

[0029] Step 104: Determine the first screen coordinate information of the puncture needle tip based on the ultrasound puncture enhancement image, wherein the ultrasound puncture enhancement image includes an image of the puncture needle.

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

[0031] Step 106: Convert the first screen coordinate information of the puncture needle tip into the second coordinate information of the puncture needle tip. The second coordinate information and the first coordinate information are coordinate information in the same coordinate system.

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

[0033] Step 108: Based on the first coordinate information and the second coordinate information, obtain the deviation distance of the puncture needle tip.

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

[0035] Step 110: Determine the length of the puncture needle based on the deviation distance and the preset puncture needle length.

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

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

[0038] Specifically, the sensor can employ an electromagnetic tracking system, such as the NDI Aurora electromagnetic tracking system or the AscensiontrakSTAR electromagnetic tracking system. These systems utilize a miniature sensor coil mounted at the end of the puncture needle and an external magnetic field generator. When the sensor coil moves within the magnetic field, it generates an induced current. By analyzing these current signals, the system can accurately calculate the sensor's position and orientation.

[0039] Pose information can include coordinate and angle information. The needle tail coordinate information acquired by the sensor typically includes three-dimensional spatial coordinates (x, y, z), while the angle information of the puncture needle includes pitch, yaw, and roll. After receiving this information, the processor combines it with the preset puncture needle length input by the user and calculates the first coordinate information of the puncture needle tip through vector calculation.

[0040] For example, if the coordinates of the puncture needle tail are (x0, y0, z0), the unit direction vector of the puncture needle is (dx, dy, dz), and the preset puncture needle length is L, then the first coordinate information (x1, y1, z1) of the puncture needle tip can be calculated using 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 using the pitch angle θ and yaw angle φ of the puncture needle.

[0045]

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

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

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

[0049] Ultrasound-enhanced puncture imaging enhances the display of the puncture needle in ultrasound images. Through specialized signal processing algorithms, the needle becomes more clearly visible in the enhanced ultrasound puncture image. Based on this, various image processing algorithms, such as Hough transform, edge detection, template matching, or deep learning methods, are employed for image recognition in the enhanced ultrasound puncture image. In practical applications, deep learning methods can be used to roughly locate the puncture needle region first, then Hough transform can be applied to precisely locate the needle, and finally, morphological operations and brightness analysis can be used to determine the position of the needle tip to improve recognition accuracy. After determining the position of the needle tip, its pixel coordinates in the ultrasound image, i.e., the first screen coordinate information, can be obtained.

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

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

[0052]

[0053] in This is the second coordinate information. Let S be the coordinate information of the first screen, and let S be the transformation matrix for converting the coordinate information of the first screen into the probe coordinate system. This is the transformation matrix for converting the probe coordinate system to the magnetic field coordinate system. This is the transformation matrix for converting the magnetic field coordinate system to the sensor coordinate system.

[0054] Transformation matrix from screen coordinate system to probe coordinate system This can be determined through the calibration parameters of the ultrasound probe. These parameters include pixel size, scan depth, scan width, etc. A matrix can be:

[0055]

[0056] in, and It is the scaling factor from pixel to physical distance. and It is the translation of the origin of the coordinate system.

[0057] Transformation matrix from probe coordinate system to magnetic field coordinate system This is typically obtained through a probe calibration process. During calibration, multiple sets of data are collected at known locations using a special tool equipped with sensors, and then the transformation matrix is ​​calculated using the least squares method or other optimization algorithms. A matrix can be:

[0058]

[0059] in, arrive These are elements of the rotation matrix. , and These are elements of the translation vector.

[0060] Transformation matrix from magnetic field coordinate system to sensor coordinate system This is typically provided by an electromagnetic tracking system. This matrix describes the relationship between the global magnetic field coordinate system and the sensor's local coordinate system. A matrix can be:

[0061]

[0062] in, arrive These are elements of the rotation matrix. , and These are elements of the translation vector.

[0063] By continuously applying the above transformation 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 may 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, deviation distance It can be obtained through the first coordinate information Second coordinate information The distance between them is calculated, that is In three-dimensional space, for example, the first coordinate information. for Second coordinate information for Then the deviation distance It can be calculated using the Euclidean distance formula:

[0066] .

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

[0068] .

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

[0070] In some embodiments, step 110 may 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. a 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. a negative deviation, subtracting the deviation distance and the preset puncture needle length to obtain the actual length of the puncture needle.

[0071] Specifically, the actual length of the puncture needle It can be done through formula Calculation, where To preset the puncture needle length, This represents the deviation distance. Whether to use a plus or minus sign depends on the second coordinate information. Relative to the first coordinate information and the coordinate information of the puncture needle tail Positional relationship.

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

[0073] Coordinate value comparison method: Compare each component of the second coordinate information with the corresponding components of the first coordinate information and the puncture needle tail coordinate information. For example, the second coordinate information is B (2, 4), the first coordinate information is A (3, 6), and the puncture needle tail coordinate information is C (1, 2). Since the x-coordinate 2 of B is between the x-coordinate 3 of A and the x-coordinate 1 of C, and the y-coordinate 4 of B is between the y-coordinate 6 of A and the y-coordinate 2 of C, B is located within the range of A and C.

[0074] Vector direction comparison method: Calculate the vector CA from C to A and the vector AB from A to B (or the vector CB from C 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] By calculating the dot product of vectors CA and AB, their directional relationship can be determined:

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

[0079] Since the dot product is negative, it means that vectors CA and AB are in opposite directions. Therefore, 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] Conversely, for example, given 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 = 2×1 + 4×2 = 10 > 0

[0084] The dot product is positive, indicating that the directions are the same. By comparing the coordinate values, it can be found that the x-coordinate of B (4) is not between the x-coordinate of A (3) and the x-coordinate of C (1), and the y-coordinate of B (8) is not between the y-coordinate of A (6) and the y-coordinate of C (2). Therefore, 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 aligned with the first coordinate information and the puncture needle tail coordinate information, the transformation matrix between the probe coordinate system, magnetic field coordinate system, sensor coordinate system, and screen coordinate system can be automatically corrected. If, after correction, the two systems are still not aligned after re-detection, the user can be prompted on the display interface that there may be magnetic field signal interference or a malfunction in the puncture needle installation, and the user should check it. Alternatively, the user can be prompted directly without correction.

[0086] Using the above method, the first coordinate information of the puncture needle tip can be obtained through sensors and a preset puncture needle length. The first screen coordinate information of the puncture needle tip can be determined through puncture enhancement images. The actual coordinate information of the puncture needle tip can be obtained based on the coordinate system transformation matrix. Then, the deviation distance is calculated based on the actual coordinate information and the first coordinate information of the puncture needle tip. By correcting the deviation, the actual length of the puncture needle can be obtained. There is no need to manually measure the length of the puncture needle. The actual length of the puncture needle can be accurately measured, providing doctors with precise puncture navigation information and improving the safety and success rate of puncture operations.

[0087] It should be understood that, although Figure 1The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0088] Example 2

[0089] An ultrasound-guided puncture method, such as Figure 2 As shown, the method includes:

[0090] Step 202: Based on the B-mode image of the area to be examined, determine 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 as determined in Example 1, determine the coordinate information of the puncture needle tip.

[0092] Step 206: Perform coordinate system transformation 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: Perform puncture navigation based on the screen coordinates of the puncture needle tip and the location information of the lesion area.

[0094] In this embodiment, B-mode imaging is a basic mode of ultrasound imaging. It forms a two-dimensional grayscale image by displaying the echo intensity of the tissue interface, clearly showing the tissue structure and facilitating the doctor's identification of lesion areas. Puncture navigation refers to the process of accurately guiding the puncture needle to the target location by displaying the relative positional relationship between the puncture needle tip and the target lesion in real time under ultrasound guidance. Puncture navigation technology is widely used in clinical procedures such as biopsies, puncture drainage, and local injection therapy.

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

[0096] Acquire CT or MR images of the area to be examined, identify and mark lesion areas in the CT or MR images; acquire B-mode images of the area to be examined, fuse the B-mode images with the CT or MR images, and determine the lesion areas in the B-mode images.

[0097] Specifically, CT (computed tomography) and MR (magnetic resonance imaging) provide high-resolution images of anatomical structures, aiding in the accurate identification and localization of lesions. Manual, semi-automatic, and fully automatic segmentation methods are used to identify lesion regions in CT or MR images. After identification, lesion regions can be marked using contour marking or region filling. Noise reduction and enhancement processes are applied to B-mode ultrasound and CT / MR images to improve image quality. Significant feature points or regions, such as edges, corners, and anatomical landmarks, are extracted from both images. The two images are aligned using rigid transformations (translation, rotation, scaling) or non-rigid transformations (elastic deformation), accurately mapping the marked lesion regions from the CT or MR images to the B-mode ultrasound images. Combining the real-time advantages of ultrasound and the high resolution of CT / MR improves the accuracy of lesion localization, providing precise target location information for puncture navigation.

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

[0099] Specifically, fusing B-mode images with CT or MR images not only displays the lesion area in the B-mode image but also maps the positional information of the puncture needle tip onto the CT or MR image. This bidirectional mapping provides a more comprehensive spatial relationship, helping physicians assess the puncture path and target location from multiple angles.

[0100] Puncture navigation can be presented in various ways, such as path planning, real-time trajectory display, distance measurement, and angle indication. The system can calculate the distance and direction from the needle tip to the lesion center and prompt the doctor to adjust the puncture angle and depth through graphical or numerical methods. Simultaneously, the system can predict the needle's trajectory, helping the doctor assess the safety of the puncture path.

[0101] In some embodiments, step 204 may include: obtaining the coordinate information of the puncture needle tail and the angle information of the puncture needle based on the sensor, obtaining the length of the puncture needle based on the method of Embodiment 1, and then obtaining the coordinate information of the puncture needle tip using the calculation method described in Embodiment 1.

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

[0103] The coordinate information of the puncture needle tip is transformed sequentially 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-guided puncture, coordinate system transformation is the process of transforming the coordinate information of the puncture needle tip from one coordinate system to another. It usually involves multiple coordinate systems, such as the sensor coordinate system, magnetic field coordinate system, probe coordinate system and screen coordinate system.

[0105] Transforming the coordinates of the puncture needle tip from the sensor coordinate system to the screen coordinate system of the B-mode image requires the following transformations in sequence: from the sensor coordinate system to the magnetic field coordinate system, from the magnetic field coordinate system to the probe coordinate system, and from the probe coordinate system to the screen coordinate system. Specifically, the sensor coordinate system is a local coordinate system referenced to the sensor, describing the sensor's position and orientation relative to itself; the magnetic field coordinate system is a global coordinate system referenced to the magnetic field generator, describing the position and orientation of all sensors within the magnetic field; and the probe coordinate system is a coordinate system referenced to the ultrasound probe, describing the positional relationships within the ultrasound image plane.

[0106] Through the above transformation, the coordinate information of the puncture needle tip can be transformed from the sensor coordinate system to the screen coordinate system of the B-mode image, thereby achieving precise positioning of the puncture needle tip on the ultrasound image.

[0107] In some embodiments, prior to step 204, the method further includes: enabling puncture needle navigation.

[0108] Specifically, activating needle navigation means activating the puncture navigation function of the ultrasound device, putting the system into puncture guidance mode. In this mode, the system will start the relevant hardware and software modules to 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] Initiating needle navigation typically involves the following steps:

[0110] System initialization: Start the electromagnetic tracking system, check the connection status of the magnetic field generator and sensor, and ensure that the system is working properly.

[0111] Parameter settings: Set parameters such as the type, length, and diameter of the puncture needle. These parameters will be used for subsequent coordinate calculations and trajectory prediction.

[0112] Coordinate system calibration: This involves calibrating the relationship between the ultrasonic probe coordinate system and the magnetic field coordinate system to ensure accurate coordinate transformation. Calibration methods include point-to-point calibration, face-to-face calibration, or the use of specialized calibration tools.

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

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

[0115] Once the needle navigation is activated, the system will continuously monitor the position and direction of the needle and update the display of the needle on the ultrasound image based on real-time data, providing doctors with intuitive visual guidance.

[0116] The above methods can achieve precise ultrasound-guided puncture, helping doctors accurately locate lesions, improve the success rate of puncture, and reduce the risk of complications.

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

[0118] Example 3

[0119] A puncture needle length measuring device, such as Figure 3 As shown, the device includes:

[0120] The first determining module is used to determine the first coordinate information of the tip of the puncture needle based on the pose information of the puncture needle tail and the preset puncture needle length.

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

[0122] The second determining module is used to determine the first screen coordinate information of the puncture needle tip based on the ultrasound puncture enhancement image, wherein the ultrasound puncture enhancement image includes an image of the puncture needle.

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

[0124] The first conversion module converts the first screen coordinate information of the puncture needle tip into the second coordinate information of the puncture needle tip. 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. This module includes a coordinate transformation unit to realize the conversion between the screen coordinate system, probe coordinate system, magnetic field coordinate system, and sensor coordinate system.

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

[0127] Specifically, the third determining 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 this deviation distance and the preset puncture needle length. This module includes a distance calculation unit and a length determining unit, which can calculate the spatial distance according to the coordinate difference and determine the actual puncture needle length according to preset rules.

[0128] The puncture needle length measuring device may further include a first acquisition module, which is connected to a sensor and a user input device. This first acquisition module receives the positional information of the puncture needle tail from the sensor and the preset puncture needle length input by the user through an input interface. The sensor may be a magnetic field sensor, an optical sensor, or an inertial sensor, installed at the puncture needle tail position to monitor the position and angle of the puncture needle in real time. The user input device may be a touchscreen, a keyboard, or a dedicated control panel, allowing the doctor to input the preset length of the puncture needle.

[0129] The puncture needle length measuring device may also include a second acquisition module, which is responsible for acquiring ultrasound images with the puncture needle in ultrasound puncture enhancement imaging mode; ultrasound puncture enhancement technology is a special ultrasound imaging mode that enhances the display effect of the puncture needle in the ultrasound image through signal processing algorithms, making the puncture needle more clearly visible.

[0130] The modules communicate via a data bus and collaborate to complete the measurement of the puncture needle length. Each module can be integrated into an ultrasound diagnostic device or used as an independent add-on with existing ultrasound diagnostic equipment. Each functional module can be independently upgraded and maintained, offering flexibility and scalability. The device's output can be displayed in real-time on a screen, providing doctors with accurate puncture needle length information to assist in the puncture procedure.

[0131] For specific limitations regarding the puncture needle length measuring device, please refer to the limitations on the puncture needle length measurement method above, which will not be repeated here. Each module in the above device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in a computer device, or stored in software in the memory of a computer device, so that the processor can call and execute the operations corresponding to each module.

[0132] Example 4

[0133] An ultrasound device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of any one of Embodiments 1 to 2.

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

[0135] The hardware components of an ultrasound device include: a main unit, an ultrasound probe, a display screen, a control panel, a memory, a processor, and external interfaces.

[0136] The main unit is the core component of the ultrasonic equipment, which includes ultrasonic wave transmitting and receiving circuits, signal processing circuits, image processing units, and system control units.

[0137] An ultrasound probe is a device that emits and receives ultrasound waves. Different types of probes can be selected according to clinical needs, such as convex array probes, linear array probes, phased array probes, etc.

[0138] The display screen is used to show ultrasound images and puncture navigation information, and typically uses a high-resolution LCD display that supports touch operation.

[0139] The control panel includes various buttons, knobs, and touchpads for controlling the functions and parameter settings of the ultrasound equipment.

[0140] The memory is used to store the operating system, applications, ultrasound image data, and patient information. Memory can be divided into internal memory and external storage devices, such as hard drives, solid-state drives, or USB flash drives.

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

[0142] External interfaces include network interfaces, USB interfaces, HDMI interfaces, etc., used to connect external devices and transmit data.

[0143] The software system of ultrasound equipment includes the operating system, device drivers, applications, and user interface. 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. Applications include ultrasound imaging programs, needle length measurement programs, and puncture guidance programs. The user interface is designed to be simple and intuitive, facilitating quick operation and information retrieval by physicians.

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

[0145] In another embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown below. Figure 4 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a method for measuring the length of a puncture needle or a method for ultrasound-guided puncture. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0146] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0147] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for measuring the length of a puncture needle, characterized in that, The method includes: Based on the pose information of the puncture needle tail sent by the sensor and the preset puncture needle length input by the user, the first coordinate information of the puncture needle tip is determined. The first screen coordinate information of the puncture needle tip is determined based on the ultrasound puncture enhancement image, wherein the ultrasound puncture enhancement image includes an image of the puncture needle; The first screen coordinate information of the puncture needle tip is converted 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. Based on the first coordinate information and the second coordinate information, the deviation distance of the puncture needle tip is obtained; In response to the fact that the second coordinate information is outside the range of the first coordinate information and the coordinate information of the puncture needle tail, the deviation distance and the preset puncture needle length are summed 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, the difference between the deviation distance and the preset puncture needle length is calculated to obtain the actual length of the puncture needle.

2. The method according to claim 1, characterized in that, The first coordinate information for determining the tip of the puncture needle based on the pose information of the needle tail transmitted by the sensor and the preset puncture needle length input by the user includes: The system receives the coordinate information of the puncture needle tail and the deflection angle of the puncture needle sent by the sensor. Based on the coordinate information of the puncture needle tail, the deflection angle of the puncture needle and the preset puncture needle length, the system calculates the first coordinate information of the puncture needle tip.

3. The method according to claim 1, characterized in that, The determination of the first screen coordinate information of the puncture needle tip based on the ultrasound-enhanced puncture image includes: Image recognition is performed on the ultrasound puncture enhanced image to determine the position of the puncture needle tip, and the 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, characterized in that, The step of converting the first screen coordinate information of the puncture needle tip into the second coordinate information of the puncture needle tip includes: The first screen coordinate information is sequentially transformed into the probe coordinate system, the magnetic field coordinate system, and the sensor coordinate system to obtain the second coordinate information.

5. The method according to claim 1, characterized in that, The step of obtaining the deviation distance of the puncture needle tip based on the first coordinate information and the second coordinate information includes: According to the distance calculation formula, the distance between the first coordinate information and the second coordinate information is calculated to obtain the deviation distance of the puncture needle tip.

6. A device for measuring the length of a puncture needle, characterized in that, The device includes: The first determining module is used to determine the first coordinate information of the tip of the puncture needle based on the pose information of the puncture needle tail and the preset puncture needle length. The second determining module is used to determine the first screen coordinate information of the tip of the puncture needle based on the ultrasound puncture enhancement image, wherein the ultrasound puncture enhancement image includes an image of the puncture needle; The first conversion module converts the first screen coordinate information of the puncture needle tip into the 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 used to obtain the deviation distance of the puncture needle tip based on the first coordinate information and the second coordinate information; 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, the deviation distance and the preset puncture needle length are summed 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, the deviation distance and the preset puncture needle length are subtracted to obtain the actual length of the puncture needle.

7. An ultrasonic device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, The steps of implementing the method of any one of claims 1 to 5 when the processor executes a computer program.

8. The ultrasonic device according to claim 7, characterized in that, When the processor executes a computer program, it also performs the following steps: Based on the B-mode image of the area to be examined, the lesion region in the B-mode image is determined; Based on the pose information of the puncture needle tail sent by the sensor and the actual length of the puncture needle, the coordinate information of the puncture needle tip is determined. The coordinate information of the puncture needle tip is transformed to obtain the screen coordinate information of the puncture needle tip in the B mode image; Puncture navigation is performed based on the screen coordinates of the puncture needle tip and the location information of the lesion area.

9. The ultrasonic device according to claim 8, characterized in that, When the processor executes a computer program, it also performs the following steps: Acquire CT or MR images of the area to be examined, identify and mark the lesion areas in the CT or MR images; The B-mode image of the area to be examined is acquired, and the B-mode image is fused with the CT image or the MR image to determine the lesion area in the B-mode image.

10. The ultrasonic device according to claim 9, characterized in that, When the processor executes a computer program, it also performs the following steps: The B-mode image is fused 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; Puncture navigation is performed based on the screen coordinates of the puncture needle tip in the CT image or the MR image and the location information of the lesion area in the CT image or the MR image.

11. The ultrasonic device according to claim 8, characterized in that, When the processor executes a computer program, it also performs the following steps: 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.

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