Puncture method, device and system

Abstract

The embodiment of the invention relates to the technical field of medical treatment, and provides a puncture method, device and system.The method comprises the steps that before a target object is punctured, breathing information and a scanning image of the target object are obtained; determining first position information of the non-penetrable area according to the scanning image, and performing puncture verification on a puncture prediction path of the puncture needle according to the first position information and the breathing information to obtain a target breathing pressure value range; and performing respiratory training on the target object through the respiratory training instruction, and notifying the user to perform puncture according to the puncture prediction path when the respiration of the target object meets the target respiratory pressure value range. Puncture verification is carried out on the puncture prediction path before puncture, so that puncture is carried out when the target object is in the target breathing pressure value range, and the success rate of puncture is increased. Respiratory training of the target object is automatically completed, and the efficiency of respiratory training is improved.

Description

Technical Field

[0001] This application relates to the field of medical technology, and more specifically, to a puncture method, apparatus, and system. Background Technology

[0002] In the medical field, puncture is a common diagnostic and treatment method, typically used to obtain tissue samples or inject drugs. Taking percutaneous puncture as an example, it involves inserting a needle through the skin to reach the target tissue or organ. With the continuous advancement of robot-assisted technology, percutaneous puncture surgical robots are now commercially available. Compared to other types of percutaneous interventional surgical robots, percutaneous puncture master-slave control surgical robots introduce a master-slave mechanism, allowing for high-precision punctures under the guidance of real-time computed tomography (CT) images by adjusting the angle of the puncture needle. This offers advantages such as high positioning accuracy, short operation time, and no radiation exposure for the surgeon.

[0003] However, during real-image guidance, due to factors such as the patient's breathing, the position of lesions (especially small lesions) and bones may deviate from the initially planned position and remain in a state of dynamic fluctuation, causing the puncture needle to interfere with bones, dangerous tissues, etc. Summary of the Invention

[0004] This application provides a puncture method, apparatus, and system that can solve the technical problem of interference between the puncture needle and the target object's dangerous tissues, bones, etc. during the puncture process due to the target object's (e.g., patient's) breathing.

[0005] In a first aspect, embodiments of this application provide a puncture system, the puncture system including a processor, the processor being used for:

[0006] Acquire respiratory information and scan images of the target object;

[0007] Based on the scanned image, determine the first location information of the impenetrable region of the target object;

[0008] The puncture prediction path is punctured based on the first location information and the respiratory information to obtain the target respiratory pressure value range that meets the puncture verification. The puncture verification includes interference verification of the puncture prediction path.

[0009] A breathing training instruction is generated based on the target breathing pressure value range, and the breathing training instruction is used to instruct breathing training to be performed on the target object;

[0010] If the target object's breathing meets the target breathing pressure range, a puncture prompt is generated. The puncture prompt is used to guide the user to perform the puncture according to the puncture prediction path.

[0011] Before performing a puncture on the target object, the respiratory information and scan images of the target object are first acquired. Then, based on the scan images, the first location information of the impenetrable area is determined, and the puncture prediction path is punctured based on the first location information and respiratory information to obtain the target respiratory pressure value range corresponding to the puncture prediction path that can pass the puncture verification. Then, the target object is trained to breathe using a breathing training instruction. If the target object's breathing meets the target respiratory pressure value range, the user is notified to perform a puncture on the target object according to the puncture prediction path. By performing a puncture verification on the puncture prediction path before puncture to determine the target respiratory pressure value range, and then training the target to breathe based on the target respiratory pressure value, the success rate of puncture is improved. Moreover, the above-mentioned breathing training for the target object is completed automatically without human intervention (e.g., by a doctor), improving the efficiency of breathing training and reducing the workload of manual labor. This application, by first verifying the puncture prediction path and then training the target object to breathe based on the verification result, makes it easier to determine the respiratory pressure value that meets the puncture verification, which is convenient for actual operation.

[0012] In some embodiments, the step of performing puncture verification on the puncture prediction path based on the first location information and the respiratory information includes: matching the first location information and the respiratory information to obtain a matching result;

[0013] The puncture prediction path is subjected to interference verification based on the matching results.

[0014] In some embodiments, the first location information includes the location of the impenetrable area and the second time information corresponding to the location of the impenetrable area; the breathing information includes a breathing pressure value and the first time information; the matching result includes the correspondence between the location of the impenetrable area and the breathing pressure value.

[0015] The matching of the first location information and the respiratory information to obtain a matching result includes:

[0016] Obtain the image delay time of the scanned image;

[0017] The second time information is corrected based on the image delay time to obtain the corrected second time information;

[0018] The location of the impenetrable area and the breathing pressure value are matched based on the corrected second time information and the first time information to obtain the correspondence between the location of the impenetrable area and the breathing pressure value.

[0019] In some embodiments, the step of performing an interference check on the puncture prediction path based on the first location information and the respiratory information to obtain a target respiratory pressure value range that satisfies the interference check includes:

[0020] The distance between the impenetrable area and the puncture prediction path is determined based on the first location information and the puncture prediction path, and the distance is displayed.

[0021] In response to the user's instruction, a target respiratory pressure range corresponding to the distance is determined, wherein the target respiratory pressure range is the respiratory pressure range corresponding to the puncture prediction path that satisfies the interference check.

[0022] In some embodiments, the puncture verification further includes a puncture object verification, wherein the puncture object verification is used to verify whether the puncture prediction path can pass through the puncture object.

[0023] The step of performing puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain the target respiratory pressure value range that meets the puncture verification includes:

[0024] Based on the scanned image, determine the second position information of the target object to be punctured;

[0025] Based on the first location information and the puncture prediction path, a first distance between the impenetrable area and the puncture prediction path is determined;

[0026] Based on the second location information, the puncture prediction path is verified to obtain the puncture object verification result.

[0027] The first distance and the puncture verification result are displayed.

[0028] In response to the user's instruction, a target respiratory pressure range corresponding to the distance is determined. The target respiratory pressure range is the respiratory pressure range corresponding to the puncture prediction path that satisfies the interference check and the puncture object check.

[0029] In some embodiments, the step of performing puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain a target respiratory pressure value range that meets the puncture verification includes:

[0030] The distance between the impenetrable area and the puncture prediction path is determined based on the first location information and the puncture prediction path, and the distance is displayed.

[0031] If the distance is greater than or equal to the distance threshold, the target respiratory pressure value range that satisfies the interference verification is determined based on the distance. The target respiratory pressure value range is the respiratory pressure value range corresponding to the puncture prediction path that satisfies the interference verification.

[0032] In some embodiments, the puncture verification further includes a puncture object verification, wherein the puncture object verification is used to verify whether the puncture prediction path can pass through the puncture object verification.

[0033] The determination of the target respiratory pressure value range that meets the puncture verification based on the first distance includes:

[0034] Based on the first distance, determine the initial target respiratory pressure value range that satisfies the interference verification;

[0035] Acquire a target scan image from the scan image that corresponds to the initial target respiratory pressure value, wherein the target scan image includes the object to be punctured;

[0036] The puncture prediction path corresponding to the initial target respiratory pressure value is verified to obtain the puncture object verification result.

[0037] The target respiratory pressure range is determined based on the verification results of the object to be punctured and the initial target respiratory pressure range.

[0038] In some embodiments, before acquiring the respiratory information and scan images of the target object, the processor is further configured to:

[0039] In response to a user's breathing instruction, an initial breathing instruction is generated. This initial breathing instruction is used to perform initial breathing training on the target object so that the target object's breathing is within the range of initial breathing pressure values.

[0040] In some embodiments, the processor is further configured to: if the puncture verification of the puncture prediction path fails, generate an initial adjustment instruction, the initial adjustment instruction being used to adjust the initial respiratory pressure value range, and to train the target object's breathing based on the adjusted initial respiratory pressure value range;

[0041] Acquire the respiratory information and scan images of the target subject after the respiratory training is completed, and perform puncture verification based on the respiratory information and scan images of the target subject after the respiratory training is completed.

[0042] In some embodiments, after determining the predicted puncture path of the puncture needle, the processor is further configured to:

[0043] Obtain the first coordinate information of the puncture needle's predicted puncture trajectory in the device coordinate system;

[0044] The first coordinate information is transformed to obtain the second coordinate information of the puncture prediction path in the image coordinate system;

[0045] The puncture prediction path is projected onto the scanned image based on the second coordinate information and then displayed.

[0046] In some embodiments, the scanned image includes multiple inter-slice sub-scanned images, and after determining the puncture needle's predicted path, the processor is further configured to:

[0047] Based on the second coordinate information, the puncture prediction path is projected onto multiple sub-scan images and the projected sub-scan images are displayed.

[0048] In some embodiments, after performing an interference check on the puncture prediction path based on the first location information and the respiratory information, the processor is further configured to:

[0049] If the puncture prediction path fails the interference check, the third position information of the adjusted puncture needle is determined in response to the user's adjustment operation.

[0050] The updated puncture prediction path is determined based on the third position information of the adjusted puncture needle;

[0051] The updated puncture prediction path is subjected to interference verification based on the first location information and the breathing information.

[0052] In some embodiments, determining first location information of the impenetrable region of the target object based on the scanned image; and performing puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain a target respiratory pressure value range that meets the puncture verification includes:

[0053] First location information of the impenetrable region of the target object is determined based on multiple sub-scan images;

[0054] Based on the first location information and the respiratory information, the puncture prediction path in each sub-scan image is segmented for puncture verification to obtain the target respiratory pressure value range that meets the puncture verification.

[0055] In some embodiments, before performing puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain a target respiratory pressure value range that satisfies the puncture verification, the processor is further configured to:

[0056] Obtain candidate puncture prediction paths, and determine puncture prediction paths based on the candidate puncture prediction paths, wherein the puncture prediction paths pass through the target object to be punctured.

[0057] Secondly, a puncture device is provided, comprising:

[0058] The acquisition module is used to acquire respiratory information and scan images of the target object;

[0059] The puncture verification module determines the first location information of the impenetrable area of ​​the target object based on the scanned image; performs puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain the target respiratory pressure value range that meets the puncture verification, wherein the puncture verification includes interference verification on the puncture prediction path.

[0060] The breathing training module is used to generate a breathing training instruction based on the target breathing pressure range, the breathing training instruction being used to instruct the target object to perform breathing training; the puncture module is used to generate a puncture prompt if the target object's breathing meets the target breathing pressure range, the puncture prompt being used to prompt the user to perform puncture according to the puncture prediction path.

[0061] Thirdly, a puncture method is provided, the puncture method being applied to a processor of a puncture system, the method comprising:

[0062] Acquire respiratory information and scan images of the target object;

[0063] Based on the scanned image, determine the first location information of the impenetrable region of the target object;

[0064] Based on the first location information and the respiratory information, the puncture prediction path is punctured to obtain the target respiratory pressure value range that meets the puncture verification. The puncture verification includes interference verification of the puncture prediction path.

[0065] A breathing training instruction is generated based on the target respiratory pressure value range that meets the puncture verification, and the breathing training instruction is used to instruct the target object to perform breathing training.

[0066] If the target object's breathing meets the target respiratory pressure value range that satisfies the puncture verification, a puncture prompt is generated. The puncture prompt is used to prompt the user to perform the puncture according to the puncture prediction path. Attached Figure Description

[0067] Figure 1 A scenario diagram provided for an embodiment of this application;

[0068] Figure 2 A schematic flowchart of a puncture method provided in an embodiment of this application;

[0069] Figure 3 This is a schematic diagram of respiratory information provided in an embodiment of this application;

[0070] Figure 4 A schematic flowchart of a puncture method provided in an embodiment of this application;

[0071] Figure 5A A schematic diagram of a device coordinate system provided in an embodiment of this application;

[0072] Figure 5B A schematic diagram of an image coordinate system provided in an embodiment of this application;

[0073] Figure 5C A schematic diagram of the interface projection of the line segment for the puncture prediction path onto the plane of the four scan images.

[0074] Figure 5D A schematic diagram showing the line segment of the puncture prediction path in the plane of four scan images;

[0075] Figure 6A This application provides a schematic diagram of the puncture prediction path of the puncture needle before adjustment;

[0076] Figure 6B A schematic diagram of an adjusted puncture needle puncture prediction path provided for an embodiment of this application;

[0077] Figure 7A A schematic diagram of a puncture procedure scenario provided in an embodiment of this application;

[0078] Figure 7B A schematic diagram of a second scenario of a puncture process provided in an embodiment of this application;

[0079] Figure 7C A schematic diagram of a puncture procedure in scenario three, provided as an embodiment of this application;

[0080] Figure 7D A schematic diagram of a puncture process in scenario four, provided as an embodiment of this application;

[0081] Figure 7E A schematic diagram of scenario five of a puncture process provided in an embodiment of this application;

[0082] Figure 8 This is a schematic diagram of a puncture device provided in an embodiment of this application;

[0083] Figure 9 This is a schematic diagram of a puncture device provided in an embodiment of this application. Detailed Implementation

[0084] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0085] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0086] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0087] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0088] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0089] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0090] In the medical field, puncture is a common diagnostic and treatment method, typically used to obtain tissue samples or inject drugs. Taking percutaneous puncture as an example, it involves inserting a needle through the skin to reach the target tissue or organ. With the continuous advancement of robot-assisted technology, percutaneous puncture surgical robots are now commercially available. Compared to other types of percutaneous interventional surgical robots, percutaneous puncture master-slave control surgical robots introduce a master-slave mechanism, allowing for high-precision punctures under the guidance of real-time computed tomography (CT) images by adjusting the angle of the puncture needle. This offers advantages such as high positioning accuracy, short operation time, and no radiation exposure for the surgeon.

[0091] However, during real-image guidance, due to factors such as the patient's breathing, the position of lesions (especially small lesions) and bones may deviate from the initially planned position and remain in a state of dynamic fluctuation, which may cause the puncture needle to interfere with bones and other tissues when the doctor performs the puncture.

[0092] Taking CT-guided surgery as an example, during a puncture procedure, Fluoro mode is used to display the patient's transverse image in real time under the CT collimation layer. The surgeon needs to monitor the needle trajectory, lesion location, bone location, and location of dangerous tissues. Besides the predicted puncture path of the needle, other tissues may move significantly with respiration. To ensure the needle passes through the lesion and avoids the influence of bone and dangerous tissues, the surgeon can train the patient's breathing, maintaining a reasonable respiratory pressure level and adjusting the needle path accordingly to complete the puncture. However, this process is generally difficult to complete quickly. Due to the physical isolation between the patient in the CT scan room and the surgeon in the operating room or work area, training the patient's breathing is challenging.

[0093] To address the aforementioned issues, this application provides a puncture method. Before puncturing a target object (e.g., a patient), the method first acquires the target object's respiratory information and scan images, and determines the first location information of the non-perforable area based on the scan images. Then, based on the respiratory information and the first location information of the non-perforable area, the puncture needle's predicted puncture path is verified to obtain a target respiratory pressure value range that meets the puncture verification. The puncture verification includes interference verification. The target object undergoes respiratory training based on the target respiratory pressure value range. When the target object's breathing reaches the target respiratory pressure value range, a puncture prompt is generated to allow puncture to proceed according to the predicted puncture path. Since the target respiratory pressure value is determined by the puncture verification, it satisfies the puncture verification of the predicted puncture path. Furthermore, the respiratory training for the target object is automatically completed by the system, requiring no user (e.g., doctor) intervention, thus simplifying implementation and reducing user workload. Prompting the user to perform puncture when their breathing meets the target respiratory pressure value range improves puncture accuracy.

[0094] See Figure 1 , Figure 1 This is a schematic diagram of a scenario provided by an embodiment of this application. During a puncture procedure performed by user A (e.g., a doctor) on target object B (e.g., a patient), user A is located at the surgical workstation (or operating room), and target object B is located in the scanning room. A respiratory monitoring device detects the respiratory information of target object B; then, the respiratory monitoring host of the respiratory monitoring device sends the respiratory information to the host of the surgical workstation. The host of the surgical workstation is also used to acquire a scanned image of target object B and determine the first location information of the non-perforable area of ​​target object B based on the scanned image. For example, an ultrasound scanning device can be used to scan the target area (e.g., the lungs) of target object B to obtain an ultrasound image, which is then sent to the host of the surgical workstation. After receiving the ultrasound image, the host of the surgical workstation determines the first location information of the non-perforable area in the ultrasound image using image recognition methods. The non-perforable area can be the heart, blood vessels, bones, etc.

[0095] The main unit of the surgical workstation determines the predicted puncture path of the puncture needle, which passes through the target object B. Then, based on the respiratory information of the target object B and the first position information of the non-perforable area, the predicted puncture path of the puncture needle is verified. The interference check of the puncture verification determines whether the predicted puncture path passes through the non-perforable area, and the target respiratory pressure value range that meets the puncture verification is determined based on the interference check result.

[0096] Optionally, the distance between the first location information of the unpierceable area corresponding to the respiratory pressure value range of the puncture verification and the puncture prediction path is greater than or equal to a distance threshold.

[0097] Then, the main unit of the surgical workstation sends the target respiratory pressure range to the respiratory training device in the scanning room. Upon receiving the target respiratory pressure range, the respiratory training device trains the user's breathing according to this range to ensure the user's breathing reaches the specified range. During the respiratory training process, the breathing of the target subject B is monitored by a respiratory monitoring device. If the target subject B's breathing reaches the target respiratory pressure range, the respiratory monitoring device sends a puncture instruction to the main unit of the surgical workstation, prompting the user A at the surgical workstation to perform the puncture according to the predicted puncture path.

[0098] In some embodiments, the respiratory monitoring device includes a wireless transmitting module, a wireless receiving module, and an information processing module; the wireless transmitting module is used to send respiratory information to the host of the surgical workstation; the wireless receiving module is used to receive instruction information (e.g., respiratory training instruction information, puncture instruction information) sent by the host of the surgical workstation; and the information processing module is used to determine whether the breathing of the target object B is within the respiratory pressure range.

[0099] In some embodiments, the breathing training device includes a voice module that plays voice prompts to provide breathing training to the target B.

[0100] In some embodiments, Figure 1 The respiratory monitoring device and respiratory training device are a single, independent device that the user can wear on the patient's chest or abdomen. This device uses structures such as an air bag and trachea to detect the expansion and contraction of the user's chest or abdomen to monitor the target subject B's respiratory rate, amplitude, and duration in real time. The device provides respiratory training to the target subject B via a voice prompt, and after the training is complete, the patient is prompted to hold their breath. In other embodiments, the respiratory monitoring device and respiratory training device can be two independent devices.

[0101] In some embodiments, the host of the surgical workstation includes a processor, which performs the operations corresponding to the host described above.

[0102] In some embodiments, the breathing training device may also be integrated with the host of the surgical workstation or be part of the host of the surgical workstation, as long as the breathing training device can perform breathing training on the target B according to the breathing training instructions.

[0103] In some embodiments, the respiratory monitoring device may also be a pulse sensor, a non-contact infrared detection device, or a camera detection device.

[0104] In some embodiments, user A performs puncture on target object B through a master-slave control structure; user A sends instructions to the master device; the slave device controls the precise movement of the surgical instrument by receiving instructions from the master device, for example, user A adjusts the angle of the master device, thereby changing the angle and position of the puncture needle on the slave device.

[0105] In some embodiments, the puncture verification further includes the verification of the object to be punctured, which is used to verify whether the puncture prediction path passes through the object to be punctured. A puncture prediction path that satisfies the puncture verification passes through the object to be punctured, and the puncture prediction path satisfies the interference verification.

[0106] It should be understood that the sequence number of each step in this embodiment does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of this application embodiment. To illustrate the technical solution of this application, specific embodiments are described below.

[0107] Please refer to Figure 2 The diagram below shows a schematic flow chart of a puncture method provided in an embodiment of this application. Figure 1Taking the processor of the host of the surgical workstation as the main execution entity as an example, the following embodiments use scanned images acquired by X-ray scanning equipment such as CT scanners as examples. The method includes the following steps:

[0108] S201. Obtain the respiratory information and scan images of the target object.

[0109] In some embodiments, a respiratory monitoring device can detect the breathing of a target object (or patient) in real time, and then send the respiratory monitoring results (e.g., respiratory information) to the host computer of the surgical workstation. In other embodiments, the host computer of the surgical workstation can periodically read the respiratory information from the respiratory monitoring device.

[0110] In some embodiments, a target area of ​​the target object (or patient) can be scanned in real time using a scanning device to obtain a scanned image, which is then sent to the host computer of the surgical workstation. In other embodiments, the host computer of the surgical workstation can periodically read the scanned images from the scanning device.

[0111] Optionally, the scanning device may consist of an X-ray generator and a detector, or an ultrasonic probe and a signal processing system. Of course, it may also be other types of scanning devices, and this application does not limit this.

[0112] Optionally, the scanned image includes the object to be punctured, wherein the object to be punctured may be the location of the lesion, target area, or target point of the target object.

[0113] In some embodiments, the method further includes: in response to a first action by a user, determining a puncture prediction path for a puncture needle that passes through the object to be punctured.

[0114] Optionally, the user can perform the first operation by clicking "Puncture Path Prediction" on the screen. After the host of the surgical workstation receives the user's first operation, the host of the surgical workstation obtains the position of the puncture needle and predicts the puncture path of the puncture needle based on the position of the puncture needle, and obtains the puncture prediction path of the puncture needle, and the puncture prediction path can pass through the object to be punctured.

[0115] Optionally, after determining the predicted puncture path of the puncture needle, the predicted puncture path can be displayed in the scanned image so that the user can see through the image whether the predicted puncture path can pass through the object to be punctured.

[0116] Optionally, if the predicted puncture path of the puncture needle does not pass through the object to be punctured, the user can change the position of the puncture needle by adjusting a lever or other means. Then, the host of the surgical workstation will predict the path based on the changed position of the puncture needle and display the updated scan image. The user can then check whether the updated puncture predicted path passes through the object to be punctured. If the updated puncture predicted path does not pass through the object to be punctured, repeat the above steps and adjust the position of the puncture needle multiple times until the predicted puncture path of the puncture needle passes through the object to be punctured.

[0117] S202. Determine the first location information of the impenetrable area based on the scanned image, perform puncture verification on the puncture prediction path based on the first location information and respiratory information, and obtain the target respiratory pressure value range that meets the puncture verification; and generate a respiratory training instruction based on the target respiratory pressure value range, which is used to instruct the target object to perform respiratory training.

[0118] The puncture verification includes interfering with the puncture prediction path.

[0119] Optionally, the breathing information is the change of the target object's respiratory pressure value over time; the first location information is the change of the location of the impenetrable area over time. Since the target object's breathing will affect the location of the object to be punctured, and the user's respiratory pressure value also changes over time, the first location information also describes the change of the location of the impenetrable area with the user's respiratory pressure value.

[0120] For example, please see Figure 3 , Figure 3 This is a schematic diagram of respiratory information provided in an embodiment of this application. Figure 3 The horizontal axis represents time, and the vertical axis represents respiratory pressure value. Users can... Figure 3 It can determine how the respiratory pressure value of a target subject changes over time. Figure 3 This displays the change in respiratory pressure over time. For example, if the time corresponding to the target's breath-holding state changes, and the respiratory pressure value remains constant, then the location of the impenetrable area will also remain constant.

[0121] Optionally, the user can perform the second operation by clicking "Start Puncture Verification" on the touch screen or by pressing the button, so that the host of the surgical workstation can perform puncture verification on the puncture prediction path based on the user's click operation and the first position information and breathing information.

[0122] Optionally, the puncture prediction path is validated based on the first location information and respiratory information. Specifically, based on the first location information corresponding to each respiratory information, it is determined whether the puncture prediction path interferes with the puncture. If interference exists, the puncture prediction path crosses an impenetrable area, thus the puncture validation of the puncture prediction path fails. If no interference exists, the minimum distance between the impenetrable area and the puncture prediction path needs to be determined, and it is determined whether the minimum distance is greater than or equal to a distance threshold. If the minimum distance is greater than or equal to the distance threshold, the first location information corresponding to the minimum distance is determined; then, the corresponding target respiratory pressure value range is determined based on the first location information. If the minimum distance is less than the distance threshold, the puncture validation fails.

[0123] In some embodiments, the host of the surgical workstation may send a breathing training instruction to the breathing training device. After receiving the initial breathing training instruction, the breathing training device performs initial breathing training on the target subject in order to train the target subject's breathing to the range of initial breathing pressure values.

[0124] In some embodiments, the host of the surgical workstation performs initial breathing training on the target subject based on initial breathing training instructions, such as sending breathing training voice instructions to the target subject in order to train the target subject's breathing to the range of initial breathing pressure values.

[0125] In some embodiments, prior to S202, the method further includes: obtaining candidate puncture prediction paths, determining a puncture prediction path based on the candidate puncture prediction paths, wherein the puncture prediction path passes through the target object to be punctured. That is, before performing puncture verification on the puncture path, a puncture prediction path that can pass through the target object is obtained from the candidate puncture prediction paths. The number of candidate puncture prediction paths can be one or more.

[0126] S203. If the target object's breathing meets the target breathing pressure range, a puncture prompt is generated. The puncture prompt is used to guide the user to perform the puncture according to the puncture prediction path.

[0127] In some embodiments, the breathing of the target subject is detected in real time by a respiratory monitoring device, and the detected breathing information is sent to the host of the surgical workstation. After receiving the breathing information, the host of the surgical workstation determines whether the breathing pressure value of the target subject is within the target breathing pressure value range. If the breathing of the target subject is within the target breathing pressure value range, the host of the surgical workstation generates a puncture instruction.

[0128] In some embodiments, a respiratory monitoring device monitors the target subject's breathing in real time and determines whether the target subject's respiratory pressure value is within the target respiratory pressure range based on the breathing information. If the target subject's breathing is within the target respiratory pressure range, the respiratory monitoring device sends a notification message to the host computer of the surgical workstation. The notification message is used to notify that the target subject's breathing is within the target respiratory pressure range. After receiving the notification message, the host computer of the surgical workstation generates a puncture prompt.

[0129] Optionally, the puncture prompt can be displayed as a pop-up window on the main unit of the surgical workstation, indicating to the user that puncture is ready. Alternatively, a voice prompt can also be used to indicate to the user that puncture is ready.

[0130] Thus, before puncturing the target object, the respiratory information and scan images of the target object are first acquired; then, based on the scan images, the first location information of the impenetrable area is determined, and the puncture prediction path of the puncture needle is punctured and verified based on the first location information and the respiratory information to obtain the target respiratory pressure value range corresponding to the puncture prediction path that can pass the puncture verification; then, the target object is trained to breathe using a breathing training instruction. If the target object's breathing meets the target respiratory pressure value range, the user is notified to perform puncture on the target object according to the puncture prediction path. By verifying the puncture prediction path before puncture to determine the target respiratory pressure value range, and training the target to breathe based on this target respiratory pressure value, the success rate of puncture is improved when the target object is within the target respiratory pressure value range. Moreover, the above-mentioned breathing training for the target object is completed automatically without human intervention (e.g., by a doctor), improving the efficiency of breathing training and reducing the workload of manual labor. This application, by first verifying the puncture prediction path and then training the target object to breathe based on the verification result, makes it easier to determine the respiratory pressure value that meets the puncture verification, which is convenient for actual operation.

[0131] Breathing training and initial breathing training are defined as follows: breathing training is conducted on the target object to bring the object's breathing within the target breathing pressure range; initial breathing training is pre-training of breathing before acquiring the target object's breathing information and scan images (i.e. before S201).

[0132] In some embodiments, prior to S201, the method further includes: generating an initial breathing training instruction, which is used to train the target object's breathing to bring the target object's breathing within an initial breathing pressure range. Thus, by performing initial breathing training on the target object before acquiring its breathing information, ensuring that the target object's breathing is within a preset breathing pressure range, it facilitates subsequent puncture verification of the predicted puncture path corresponding to the target object, improving the efficiency of puncture verification.

[0133] In some embodiments, after bringing the target object's breathing within the initial respiratory pressure range, the method further includes: acquiring a scanned image of the target object and establishing a correlation between the scanned image and the initial respiratory pressure range.

[0134] In some implementation sets, if the predicted puncture path does not meet the puncture verification, an initial adjustment instruction is generated. This initial adjustment instruction is used to adjust the initial respiratory pressure value range, and the target subject is trained to breathe according to the adjusted initial respiratory pressure value range. Respiratory information and scan images of the target subject after the respiratory training are acquired, and puncture verification is performed based on this information and these scan images. Optionally, the user can perform respiratory instruction operations on the host of the surgical workstation, such as clicking "Initial Respiratory Training" on the screen, so that the host of the surgical workstation generates an initial respiratory instruction based on the respiratory instruction operation.

[0135] Optionally, after the host of the surgical workstation generates an initial breathing training instruction, it can send the initial breathing training instruction to the breathing training device so that the breathing training device can perform breathing training on the target subject according to the initial breathing training instruction, so that the breathing of the target subject is within an initial breathing pressure value range, and when the breathing of the target subject is within the initial breathing pressure value range, it sends the breathing information of the target subject to the host of the surgical workstation.

[0136] In some embodiments, the host of the surgical workstation can determine the puncture prediction path of the puncture needle by: acquiring first position information of the puncture needle, and determining the puncture prediction path of the puncture needle based on the first position information. Optionally, the first position information of the current puncture needle can be acquired, the first position information including the needle tip position, the direction vector of the puncture needle, and the maximum needle insertion depth; and then the puncture prediction path of the puncture needle can be calculated based on the first position information of the current puncture needle.

[0137] In some embodiments, after determining the puncture prediction path, the method further includes: controlling the display of the puncture prediction trajectory in the scanned image. After determining the puncture prediction path of the puncture needle, the puncture prediction path can be processed such as coordinate transformation to display the puncture prediction path in the scanned image, so that the user can view the area traversed by the puncture prediction path through the scanned image.

[0138] In some embodiments, the user can also check whether the puncture prediction path passes through the object to be punctured by scanning the image; if the puncture prediction path does not pass through the object to be punctured, the user can adjust the angle of the puncture needle by using the puncture prediction path in the scanned image so that the adjusted puncture prediction path passes through the object to be punctured. Adjusting according to the scanned image can improve the efficiency of puncture needle adjustment.

[0139] In some embodiments, see Figure 4 , Figure 4 This is a flowchart illustrating a puncture method provided in an embodiment of this application, displaying the predicted puncture trajectory in a scanned image, including:

[0140] S401. Obtain the first coordinate information of the puncture needle's predicted puncture trajectory in the device coordinate system.

[0141] Optionally, the device coordinate system can be the device's own inherent coordinate system. This coordinate system is used to describe the position and movement trajectory of various components on the puncture device, such as the robotic arm and the puncture needle.

[0142] S402. The first coordinate information is transformed to obtain the second coordinate information of the puncture prediction path in the image coordinate system.

[0143] Optionally, the image coordinate system where the scanned image is located and the device coordinate system where the puncture needle is located have corresponding homogeneous transformation matrices; the first position information of the puncture needle is transformed from the device coordinate system to the image coordinate system through the homogeneous transformation matrix, and the second coordinate information is obtained through the homogeneous transformation matrix and the first coordinate information.

[0144] S403. Based on the second coordinate information, the puncture prediction path is projected onto the scanned image and displayed.

[0145] Optionally, the expression of the puncture prediction path in the scanned image can be determined using the second coordinate information, and the puncture prediction path can be displayed in the scanned image using this expression. For example, the puncture prediction path can be displayed in the scanned image as a white dashed line.

[0146] Thus, by displaying the puncture prediction path in the scanned image, users can easily see the area through which the puncture prediction path passes.

[0147] As is easily understood, when scanning a target object (such as a patient), due to the penetrating effect of X-rays and the reception by the detector, the tissue structure within each slice thickness forms an image. These images appear as a continuous sequence of images in a CT scan, with each image representing a different slice of tissue structure. Therefore, there are usually multiple scan images, each displaying the tissue structure of the corresponding slice. To facilitate the user's viewing of the area traversed by the puncture prediction path between different slices, the scan image includes multiple slice sub-scan images. In step S403, the puncture prediction path is projected onto multiple slice sub-scan images based on the second coordinate information, and the projected slice sub-scan images are displayed. By displaying the puncture prediction path segments in the slice sub-scan images between multiple slices, the user can clearly view the area traversed by the puncture prediction path; that is, the puncture prediction path is divided into puncture prediction path segments displayed in the slice sub-scan images between multiple slices.

[0148] For example, the puncture needle prediction path is represented as l2 in the image coordinate system based on the second coordinate information; then the puncture needle line segment l2 is projected onto the scanned image. If the host of the surgical workstation simultaneously displays sub-scanned images between four layers, and the code value intervals corresponding to the four sub-scanned images are [Z0,Z1], [Z1,Z2], [Z2,Z3], and [Z3,Z4], the part of line segment l2 in Z∈[Z0,Z1] is projected onto the Z=Z1 plane, the part of line segment l2 in Z∈[Z1,Z2] is projected onto the Z=Z2 plane, the part of line segment l2 in Z∈[Z2,Z3] is projected onto the Z=Z3 plane, and the part of line segment l2 in Z∈[Z3,Z4] is projected onto the Z=Z4 plane. That is, the line segments where the puncture prediction path is located are projected onto the corresponding scanned images between layers. Then, it is displayed on the main display interface of the surgical workstation. For example, the position of the puncture needle tip and the maximum insertion depth are marked with prominent marks, while the other parts of the line segment are represented by thin dashed lines. The above line segment is also the segmentation of the puncture prediction path.

[0149] The following explanation, in conjunction with the accompanying drawings, illustrates how to display the predicted puncture trajectory in a scanned image.

[0150] First, obtain the first position information of the puncture needle, and then determine the spatial expression of the puncture needle based on the first position information.

[0151] See Figure 5A , Figure 5A This is a schematic diagram of a device coordinate system provided in an embodiment of this application. The tip of the puncture needle is located at coordinate A(x) in the device coordinate system. A ,y A ,z A ), the direction vector of the puncture needle (a,b,c), the maximum insertion depth U that the puncture needle can achieve, and the spatial expression of the puncture needle line segment l1 in the xyz coordinate system of the calculation device, where (a,b,c) is a unit vector pointing from the direction of the needle insertion point to the direction of the target point;

[0152] First calculate the coordinates U(x) of the maximum needle depth. A +ad,y A +bd,z A +cd); According to the expression of the equation of a straight line in space, the spatial expression of line segment l1 can be obtained as follows:

[0153] Where x∈[min(x A x A +ad),max(x A x A +ad)];

[0154] Then, based on the homogeneous transformation matrix M of the device coordinate system in the image coordinate system (where M can be a 4*4 matrix), the representation I2 of the puncture needle segment l1 in the image coordinate system is calculated. Please refer to [link to relevant documentation]. Figure 5B , Figure 5B This is a schematic diagram of an image coordinate system provided in an embodiment of this application; in the image coordinate system XYZ, the direction vector is expressed as d*M*[a,b,c,1]. T The first three terms of the column vector convert the direction vector into a unit vector, expressed as (m,n,t); in the image coordinate system, the coordinates of the needle tip position are M*[x A ,y A ,z A The first three terms of the column vector [,1] are represented by R(X). A ,Y A Z A The coordinates of the maximum needle depth are M*[x] A +ad,y A +bd,z A The first three terms of the column vector [+cd] are represented by S(X). A +m*d,Y A +m*d,Z A +m*d) represents; the spatial expression for line segment l2 is:

[0155] Where x∈[min(X) A X A +md),max(X A X A +md)];

[0156] Then, the puncture needle segment l2 is projected onto the real-time image. Assuming that the CT Fluoro image displays four images simultaneously, with corresponding bed code value intervals of [z0,z1], [z1,z2], [z2,z3], and [z3,z4], the portion of segment l2 in z∈[z0,z1] is projected onto the z=z1 plane, the portion in z∈[z1,z2] is projected onto the z=z2 plane, the portion in z∈[z2,z3] is projected onto the z=z3 plane, and the portion in z∈[z3,z4] is projected onto the z=z4 plane. The real-time needle tip position and the maximum needle insertion depth are marked with relatively conspicuous marks, while the other parts of the segment are represented by thin dashed lines. This completes the expression of three-dimensional information on a two-dimensional image, that is, realizing the display of the puncture prediction path prediction in the scanned image.

[0157] For a line segment z∈[z0,z1], the information displayed by the z=z1 plane is:

[0158] Where X∈[min(X) A,X1),max(X A [X1)]:

[0159] For a line segment z∈[z1,z2], the information displayed by the z=z2 plane is:

[0160] Where x∈[min(X1,X2),max(X1,X2)]:

[0161] For a line segment z∈[z2,z3], the information displayed by the z=z3 plane is:

[0162] Where x∈[min(X2,X3),max(X2,X3)];

[0163] For a line segment z∈[z3,z4], the information displayed by the z=z4 plane is as follows:

[0164] Where x∈[min(X3,X4),max(X3,X4)];

[0165] See Figure 5C , Figure 5C This is a schematic diagram of the interface projection of the line segment for the predicted puncture path onto the planes of the four scan images. z is in the image coordinate system XYZ. Figure 5C It includes four planes: the z = z1 plane, the z = z2 plane, the z = z3 plane, and the z = z4 plane. Figure 5C Let AH be the projection of the line segment AH containing the puncture needle onto the four planes. The projection of point G in line segment AH is G', and the projection of point H is H'.

[0166] See Figure 5D , Figure 5D This diagram illustrates the display of the predicted puncture path segments in four scanned images. Since the predicted puncture path traverses multiple layers, multiple scanned images can display the areas traversed by the predicted puncture path at different levels. Specifically, A'B' represents the scanned image of one segment AH (i.e., one segment of the predicted puncture path) in the z = z1 plane; C'D' represents the scanned image of one segment AH in the z = z2 plane; E'F' represents the scanned image of one segment AH in the z = z3 plane; and G'H' represents the scanned image of one segment AH in the z = z4 plane.

[0167] In some embodiments, determining first location information of the impenetrable region of the target object based on the scanned image; performing puncture verification on the puncture prediction path based on the first location information and respiratory information to obtain a target respiratory pressure value range that meets the puncture verification includes: determining first location information of the impenetrable region of the target object based on multiple sub-scanned images; performing puncture verification on the puncture prediction path in each sub-scanned image segmented based on the first location information and respiratory information to obtain a target respiratory pressure value range that meets the puncture verification.

[0168] Optionally, the puncture prediction path segments are displayed in the corresponding sub-scan images, and puncture verification is performed on each puncture prediction path segment in each scan image. The puncture verification of each puncture prediction path segment is the same as the puncture verification process of the puncture prediction path described above, that is, interference verification and / or puncture object verification are performed on each puncture prediction path segment. If any puncture prediction path segment fails to meet the interference verification, or if the extension line of any puncture prediction path segment does not pass through the puncture object, that is, the puncture object verification result does not meet the puncture object verification, then it is determined that the puncture prediction path segment does not meet the puncture object verification; thus, the puncture verification is determined to be failed. If all puncture prediction path segments meet the interference verification, or if the extension lines of all puncture prediction path segments pass through the puncture object for each puncture prediction path segment verification, that is, the puncture object verification result meets the puncture object verification, then it is determined that the puncture prediction path segment meets the puncture object verification; thus, the puncture verification is determined to be passed.

[0169] As is easily understood, by displaying the predicted puncture path of the puncture needle in the scanned image, users can see whether the predicted puncture path can pass through the object to be punctured, such as... Figure 6A As shown, Figure 6A This application provides a schematic diagram of the puncture needle's predicted puncture path before adjustment, based on embodiments thereof. Figure 6A It can be seen that the predicted puncture path segment AH passes through four planes, and A'B' is the scan image display of the puncture needle segment AH in the Z=Z1 plane; C'D' is the scan image display of the puncture needle segment AH in the Z=Z2 plane; E'F' is the scan image display of the puncture needle segment AH in the Z=Z3 plane; G'H' is the scan image display of the puncture needle segment AH in the Z=Z4 plane; the predicted puncture path of the puncture needle does not pass through the object to be punctured (i.e., Figure 6A (target area in the middle); users can base on Figure 6AThe angle of the puncture needle is adjusted relative to the relative position of the puncture target and the predicted puncture path of the puncture needle. The main unit of the surgical workstation predicts the puncture path in real time based on the adjusted needle angle and displays the adjusted predicted puncture path in the scan image, allowing the user to view the adjusted predicted puncture path in real time. Please refer to [link to relevant documentation]. Figure 6B , Figure 6B This is a schematic diagram of an adjusted puncture needle puncture prediction path provided in an embodiment of this application. Figure 6B It can be seen that line segments G'H' and E'F' pass through the object to be pierced (i.e. Figure 6B The target area is determined by repeatedly adjusting the angle of the puncture needle, so that the predicted puncture path of the needle passes through the object to be punctured (i.e., the target area). Figure 6B (target area in the middle).

[0170] In some embodiments, after acquiring the scanned image, the first location information of the impenetrable region is determined based on the scanned image. Specifically, the scanned image is stored in the form of CT values, and the edges and contours of the impenetrable region such as bones are identified by algorithms such as threshold segmentation and edge detection. Different tissues or organs are segmented into independent regions and classified and labeled according to their characteristics.

[0171] In some embodiments, S202 performs puncture verification on the puncture prediction path based on the first location information and respiratory information to obtain a target respiratory pressure value range that meets the puncture verification, including: calculating a first distance between the puncture prediction path and the non-puncture area; and determining a target respiratory pressure value range that meets the puncture verification based on the first distance.

[0172] In some embodiments, after calculating and obtaining a first distance between the puncture prediction path and the impenetrable region, if the first distance is greater than a distance threshold, a target respiratory pressure value range is determined based on the location of the impenetrable region corresponding to the first distance. Since both the respiratory pressure value and the location of the impenetrable region change over time and are aligned after matching, each location of the impenetrable region has a corresponding respiratory pressure value, thus determining the target respiratory pressure value range corresponding to the location of the impenetrable region that satisfies the distance threshold.

[0173] In some embodiments, puncture verification further includes verification of the object to be punctured, which verifies whether the predicted puncture path can pass through the object to be punctured; then, based on the first distance, a target respiratory pressure value range that satisfies the puncture verification is determined, including:

[0174] The initial target respiratory pressure value range that satisfies the interference verification is determined based on the first distance;

[0175] Acquire the target scan image corresponding to the initial target respiratory pressure value from the scan images. The target scan image includes the object to be punctured.

[0176] The puncture prediction path corresponding to the initial target respiratory pressure value is validated to obtain the puncture object validation result; the target respiratory pressure value range is determined based on the puncture object validation result and the initial target respiratory pressure value range. Here, the scan images in S201 include multiple images, and the scan image corresponding to the initial target respiratory pressure value is obtained from the multiple scan images, i.e., the target scan image.

[0177] Thus, firstly, the puncture prediction path is subjected to interference verification to obtain the initial target respiratory pressure value range that satisfies the interference verification; then, the scan image corresponding to the initial target respiratory pressure value range is determined from the scan image by the correlation between the scan image and the respiratory pressure value; second position information of the object to be punctured in the scan image is obtained, and then it is determined whether the puncture prediction path in the scan image passes through the object to be punctured based on the puncture prediction path and the second position information; if the puncture prediction path in the scan image passes through the object to be punctured, then the initial target respiratory pressure value range is set as the target respiratory pressure value range.

[0178] Furthermore, if the puncture prediction path in the scanned image does not pass through the object to be punctured, the user's adjustment instruction information is received so that the puncture needle can be adjusted according to the adjustment instruction information; the adjusted scanned image and puncture prediction path are obtained, and the object to be punctured is verified according to the scanned image and puncture prediction path until the puncture prediction path passes through the object to be punctured; then the puncture prediction path that passes through the object to be punctured is subjected to interference verification.

[0179] In some embodiments, after calculating and obtaining the distance between the predicted puncture path and the impenetrable region, the calculation result is displayed for user viewing; then the user can give instructions via the host of the surgical workstation. The host of the surgical workstation, in response to the instruction, determines whether the predicted puncture path passes the puncture verification. If the predicted puncture path passes the puncture verification, the host of the surgical workstation determines the target respiratory pressure value range based on the location of the impenetrable region that satisfies the puncture verification. In S202, the predicted puncture path is punctured based on the first location information and respiratory information to obtain the target respiratory pressure value range that satisfies the puncture verification, including:

[0180] Based on the first location information and the puncture prediction path, determine the first distance between the impenetrable area and the puncture prediction path, and control the display of the first distance.

[0181] In response to user commands, the system determines the target respiratory pressure range corresponding to a first distance. This target respiratory pressure range is the range of respiratory pressure values ​​corresponding to the predicted puncture path that satisfies interference verification. Thus, after calculating the distance between the predicted puncture path and the impenetrable region, the distance between the impenetrable region and the predicted puncture path is displayed so that the user can view the first distance value. The user can then manually click or slide to select a distance that satisfies interference verification, i.e., a distance that meets the user's requirements, based on experience or a preset range. Finally, the target respiratory pressure range is determined based on the distance selected by the user.

[0182] In some embodiments, puncture verification further includes verification of the object to be punctured, which verifies whether the puncture prediction path can pass through the object to be punctured. The puncture prediction path is then verified based on first location information and respiratory information to obtain a target respiratory pressure range that satisfies the puncture verification. This includes: determining the second location information of the object to be punctured based on the scanned image; determining the first distance between the impenetrable area and the puncture prediction path based on the first location information and the puncture prediction path; verifying the puncture prediction path based on the second location information to obtain a puncture verification result; displaying the first distance and the puncture verification result; and determining the target respiratory pressure range corresponding to the distance in response to user instructions. First, the distance between the puncture prediction path and the impenetrable area is obtained, and the second location information of the object to be punctured is obtained. Then, it is determined whether the puncture prediction path passes through the object to be punctured based on the second location information. Then, the first distance and the puncture verification result are displayed, allowing the user to decide whether the puncture prediction path passes the puncture verification. If the puncture prediction path passes the puncture verification, the target respiratory pressure range is determined based on the first distance.

[0183] In some embodiments, if it is determined that the predicted puncture path does not meet the interference check, the user can input an adjustment operation to the host of the surgical workstation. The host of the surgical workstation responds to the user's adjustment operation and determines the third position information of the adjusted puncture needle. Then, based on the third position information of the adjusted puncture needle, it determines an updated predicted puncture path. The updated predicted puncture path is then subjected to interference check based on the first position information and respiratory information. Specifically, the host of the surgical workstation adjusts the puncture angle of the puncture needle according to the adjustment operation; the host of the surgical workstation performs path prediction based on the adjusted puncture needle to obtain an updated predicted puncture path, and performs puncture check on the updated predicted puncture path until the predicted puncture path of the puncture needle passes the puncture check.

[0184] In some embodiments, if it is determined that the predicted puncture path does not meet the interference check, the host of the surgical workstation can further retrain the target object's breathing and reacquire the target object's breathing information and scan images, determine the first position information of the non-perforable area based on the updated scan images, and then perform puncture check on the predicted puncture path based on the new breathing information and the first position information. Further, if it is determined that the predicted puncture path does not meet the interference check, pose prompting information can also be generated to remind the target object to adjust its pose, and the procedure can be performed based on the adjusted pose. Figure 2 The puncture method shown continues until the predicted puncture path satisfies the interference check.

[0185] It is easy to understand that during the scanning of the target object, because the scanning equipment and the respiratory monitoring device are not in a time-synchronized state, there is a delay between the scanned image and the respiratory information of the target object, for example, 600 milliseconds. This delay affects the judgment of the respiratory pressure value, causing the patient to be asked to hold their breath at an incorrect respiratory pressure value, thus causing the puncture needle to pass through an impenetrable area (such as bone, dangerous tissue, etc.). Therefore, in S202, the puncture prediction path is verified based on the first position information and respiratory information, including:

[0186] The initial location information and respiratory information are matched to obtain the matching result; the puncture prediction path is then subjected to interference verification based on the matching result. By matching the initial location information and respiratory information to align the respiratory pressure value of the target object with the position of the impenetrable area, the position of the impenetrable area corresponding to each respiratory pressure value can be obtained.

[0187] In some embodiments, the first location information includes the location of the impenetrable area and the corresponding second time information. Then, the first location information and the breathing information are matched to obtain a matching result, including: obtaining the image delay time, wherein the image delay time refers to the time from the emission of X-rays from the X-ray tube to the display of the scanned image on the fluorescent screen.

[0188] The second time information is corrected based on the image delay time to obtain the corrected second time information;

[0189] The location of the impenetrable region is matched with the respiratory information based on the corrected second time information to obtain the matching result. The time of the scanned image is corrected by the image delay time so that the location of the corrected impenetrable region is aligned with the respiratory information of the target object.

[0190] In some embodiments, the respiratory information includes a respiratory pressure value and a corresponding first time information. After correcting the second time information, the first time information and the second time information are synchronized, thereby aligning the respiratory pressure value with the position of the impenetrable area.

[0191] For example, the position of the impenetrable region in the image coordinate system changes over time as P(x,y,z,t), and the preset fluoroscopic image delay time is t1. The first position information of the impenetrable region is corrected by the image delay time, and the corrected first position information is P(x,y,z,t-t1). The first position information is matched with the time t of the breathing information BR(r,t), and the correspondence between the breathing information and the impenetrable region S(x,y,z,r) can be determined. This correspondence is the matching result.

[0192] It is easy to understand that during the interference verification of the puncture prediction path, the distance between the puncture prediction path and the location of the non-puncture area corresponding to each respiratory pressure value can be calculated; then, based on whether the distance is greater than the distance threshold, it can be determined whether the puncture prediction path passes the interference verification.

[0193] In some embodiments, the matching result is M(x,y,z,r), which is the correspondence between the location of the impenetrable area and the respiratory pressure value. The location of the impenetrable area under any respiratory pressure value r is represented by a point cloud. The point cloud location is J(x,y,z), where J is an n*3 matrix, n is the number of point clouds, and x,y,z are the coordinates of the point cloud values. The method for calculating the distance between the point cloud and the puncture path is as follows:

[0194] (1) Let any column in the point cloud J(x,y,z) be Jn(x,y,z). Assume R is the needle tip position and S is the position of the maximum needle depth that can be reached in the current needle insertion direction. Let

[0195]

[0196] (2) Depending on the value of u, the minimum distance g can be obtained. n

[0197]

[0198] The minimum distance between the location of the unpierceable area corresponding to a preset number of respiratory pressure values ​​and the puncture prediction trajectory is calculated as mindm = min(gn); and the respiratory pressure value r corresponding to this minimum distance is determined, for example, by using the matrix DR(mind, r);

[0199] Then determine the respiratory pressure value r in matrix mind that is greater than the distance threshold C. m According to r m Determine the range of respiratory pressure values.

[0200] Thus, by calculating the minimum distance between the location of the impenetrable area corresponding to a preset number of respiratory pressure values ​​and the puncture prediction trajectory, the respiratory pressure value corresponding to the location of the impenetrable area where the minimum distance is greater than the distance threshold is determined; and the range of respiratory pressure values ​​is determined based on the determined respiratory pressure values.

[0201] The puncture process of the puncture method in this application is illustrated below with examples. Please refer to... Figure 7A , Figure 7A This is a schematic diagram of a scenario one of the puncture procedures provided in an embodiment of this application. Figure 7A During the procedure, the surgical workstation's main unit enters real-time puncture mode. The main unit acquires the target patient's respiratory information and scan images, displaying them on the interface. At this time, puncture path prediction is not performed; that is, needle path prediction and puncture verification are both disabled. Figure 7A The image shows four sub-scan images between layers, each showing the target area (i.e., the object to be punctured).

[0202] See Figure 7B , Figure 7B This is a schematic diagram of a second scenario of a puncture procedure provided in an embodiment of this application. Figure 7B During the procedure, the user inputs instructions to activate needle path prediction. The surgical workstation then predicts the puncture path of the needle and displays the predicted path in the scanned image. Figure 7B The puncture prediction path is segmented in sub-scan images across four slices. Figure 7B (As shown by the white dashed line in the middle). Figure 7B It can be seen that the predicted puncture path of the puncture needle did not pass through the object to be punctured (i.e., Figure 7B (Target area in the middle).

[0203] See Figure 7C , Figure 7C This is a schematic diagram of a scenario three of a puncture procedure provided in an embodiment of this application. Figure 7C In the process, the user inputs adjustment commands to adjust the angle of the puncture needle. The main unit of the surgical workstation then predicts the puncture path based on the adjusted needle angle. Figure 7C It can be seen that the puncture prediction path segments through the object to be punctured in the sub-scan images between two layers (i.e., Figure 7C The target area in the puncture needle (i.e., the puncture prediction path of the adjusted puncture needle passes through the object to be punctured).

[0204] See Figure 7D , Figure 7D This is a schematic diagram of a scenario four of a puncture procedure provided in an embodiment of this application. Figure 7DIn the process, after determining that the predicted puncture path passes through the target area, the user inputs a puncture verification operation. Figure 7D The puncture verification process changes from off to on. Then, the surgical workstation's host computer performs puncture verification on the predicted puncture path that passes through the object to be punctured. The host computer extracts the first position information of the impenetrable area in the scanned image in real time and performs time correction on the first position information based on the image delay time. Based on the corrected time, the first position information and respiratory information are aligned, resulting in a matching result. The puncture prediction path is then verified based on the matching result to determine whether the target respiratory pressure range and the predicted puncture path pass through the object to be punctured. The verification results for the target respiratory pressure range and the object to be punctured are then displayed. Figure 7D The upper respiratory pressure value over time includes three straight lines parallel to the respiratory pressure value coordinate axis. The two outer lines define the target respiratory value range, and the line between the two outer lines represents the recommended optimal respiratory pressure value. After the user confirms the operation, the target respiratory pressure value is sent to the respiratory training device via a breathing instruction, so that the device can perform respiratory training on the patient.

[0205] Further, Figure 7D In the process, after completing the puncture verification and training the patient's breathing, if the user is within the target breathing range, the display screen will ask whether to perform the surgery. The user can then confirm whether to perform the surgery, i.e. whether to perform the puncture according to the puncture verification and the predicted puncture path.

[0206] See Figure 7E , Figure 7E This is a schematic diagram of scenario five of a puncture procedure provided in an embodiment of this application. Figure 7E During the procedure, after the breathing training is completed, the breathing monitoring device monitors the patient's breathing in real time. Once it is confirmed that the patient's breathing meets the target breathing range, the display interface of the surgical workstation will prompt "Please perform the puncture according to the real-time image". The user can then perform the puncture. After the puncture is completed, the breathing training device will remind the patient that they can breathe freely.

[0207] See Figure 8 The diagram shows a schematic of a puncture device provided in an embodiment of this application; for ease of explanation, only the parts related to the embodiment of this application are shown.

[0208] The puncture device may specifically include the following modules:

[0209] The acquisition module is used to acquire respiratory information and scan images of the target object;

[0210] The puncture verification module is used to determine the first location information of the impenetrable area of ​​the target object based on the scanned image; and to perform puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain the target respiratory pressure value range that meets the puncture verification. The puncture verification includes interference verification on the puncture prediction path.

[0211] A breathing training module is used to generate a breathing training instruction based on the target breathing pressure value range, the breathing training instruction being used to instruct the target object to perform breathing training.

[0212] The puncture module is used to generate a puncture prompt if the breathing of the target object meets the target breathing pressure value range. The puncture prompt is used to prompt the user to perform puncture according to the puncture prediction path.

[0213] In some embodiments, the puncture verification module is further configured to:

[0214] The first location information and the respiratory information are matched to obtain a matching result;

[0215] The puncture prediction path is verified based on the matching results.

[0216] In some embodiments, the first location information includes the location of the impenetrable area and second time information corresponding to the location of the impenetrable area; the breathing information includes a breathing pressure value and first time information corresponding to the breathing pressure value; the matching result includes the correspondence between the location of the impenetrable area and the breathing pressure value.

[0217] The matching of the first location information and the respiratory information to obtain a matching result includes:

[0218] Obtain the image delay time of the scanned image;

[0219] The second time information is corrected based on the image delay time to obtain the corrected second time information;

[0220] The location of the impenetrable area and the breathing pressure value are matched based on the corrected second time information and the first time information to obtain the correspondence between the location of the impenetrable area and the breathing pressure value.

[0221] In some embodiments, the step of performing puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain a target respiratory pressure value range that meets the puncture verification includes:

[0222] Based on the first location information and the puncture prediction path, a first distance between the impervious area and the puncture prediction path is determined, and the first distance is controlled to be displayed.

[0223] In response to the user's instruction, a target respiratory pressure range corresponding to the first distance is determined, wherein the target respiratory pressure range is the respiratory pressure range corresponding to the puncture prediction path that satisfies the interference check.

[0224] In some embodiments, the puncture verification further includes a puncture object verification, wherein the puncture object verification is used to verify whether the puncture prediction path can pass through the puncture object.

[0225] The step of performing puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain the target respiratory pressure value range that meets the puncture verification includes:

[0226] Based on the scanned image, determine the second position information of the target object to be punctured;

[0227] Based on the first location information and the puncture prediction path, a first distance between the impenetrable area and the puncture prediction path is determined;

[0228] Based on the second location information, the puncture prediction path is verified to obtain the puncture object verification result.

[0229] The first distance and the puncture verification result are displayed.

[0230] In response to the user's instruction, a target respiratory pressure range corresponding to the first distance is determined. The target respiratory pressure range is the respiratory pressure range corresponding to the puncture prediction path that satisfies the interference check and the puncture object check.

[0231] In some embodiments, the step of performing puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain a target respiratory pressure value range that meets the puncture verification includes:

[0232] Based on the first location information and the puncture prediction path, a first distance between the impenetrable area and the puncture prediction path is determined;

[0233] If the first distance is greater than or equal to the distance threshold, the target respiratory pressure value range that satisfies the puncture verification is determined based on the first distance. The target respiratory pressure value range is the respiratory pressure value range corresponding to the puncture prediction path that satisfies the interference verification.

[0234] In some embodiments, the puncture verification further includes a puncture object verification, wherein the puncture object verification is used to verify whether the puncture prediction path can pass through the puncture object verification.

[0235] The determination of the target respiratory pressure value range that meets the puncture verification based on the first distance includes:

[0236] Based on the first distance, determine the initial target respiratory pressure value range that satisfies the interference verification;

[0237] Acquire a target scan image from the scan image that corresponds to the initial target respiratory pressure value, wherein the target scan image includes the object to be punctured;

[0238] The puncture prediction path corresponding to the initial target respiratory pressure value is verified to obtain the puncture object verification result.

[0239] The target respiratory pressure range is determined based on the verification results of the object to be punctured and the initial target respiratory pressure range.

[0240] In some embodiments, before acquiring the respiratory information and scan images of the target object, the processor is further configured to:

[0241] In response to a user's breathing instruction, an initial breathing instruction is generated. This initial breathing instruction is used to perform initial breathing training on the target object so that the target object's breathing is within the range of initial breathing pressure values.

[0242] In some embodiments, the puncture verification module is further configured to:

[0243] If the puncture verification of the puncture prediction path fails, an initial adjustment instruction is generated. The initial adjustment instruction is used to adjust the initial respiratory pressure value range, and the target object is given initial respiratory training based on the adjusted initial respiratory pressure value range.

[0244] Acquire the respiratory information and scan images of the target object after the initial respiratory training is completed, and perform puncture verification based on the respiratory information and scan images of the target object after the initial respiratory training is completed.

[0245] In some embodiments, after determining the predicted puncture path of the puncture needle, the puncture verification module is further configured to:

[0246] Obtain the first coordinate information of the puncture needle's predicted puncture trajectory in the device coordinate system;

[0247] The first coordinate information is transformed to obtain the second coordinate information of the puncture prediction path in the image coordinate system;

[0248] The puncture prediction path is projected onto the scanned image based on the second coordinate information and then displayed.

[0249] In some embodiments, the scanned image includes multiple inter-slice sub-scanned images, and after determining the puncture needle's predicted puncture path, the puncture verification module is further configured to:

[0250] Based on the second coordinate information, the puncture prediction path is segmented and projected onto multiple sub-scan images, and the projected sub-scan images are displayed.

[0251] In some embodiments, determining first location information of the impenetrable region of the target object based on the scanned image; and performing puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain a target respiratory pressure value range that meets the puncture verification includes:

[0252] First location information of the impenetrable region of the target object is determined based on multiple sub-scan images;

[0253] Based on the first location information and the respiratory information, the puncture prediction path in each sub-scan image is segmented for puncture verification to obtain the target respiratory pressure value range that meets the puncture verification.

[0254] In some embodiments, before performing puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain a target respiratory pressure value range that satisfies the puncture verification, the puncture verification module is further configured to:

[0255] Obtain candidate puncture prediction paths, and determine puncture prediction paths based on the candidate puncture prediction paths, wherein the puncture prediction paths pass through the target object to be punctured.

[0256] In some embodiments, after performing puncture verification on the puncture prediction path based on the first location information and the respiratory information, the puncture verification module is further configured to:

[0257] If the puncture prediction path fails the puncture verification, the third position information of the adjusted puncture needle is determined in response to the user's adjustment operation.

[0258] The updated puncture prediction path is determined based on the third position information of the adjusted puncture needle;

[0259] The updated puncture prediction path is verified based on the first location information and the breathing information.

[0260] The puncture device provided in this application embodiment can be applied in the foregoing method embodiments. For details, please refer to the description of the above method embodiments, which will not be repeated here.

[0261] Figure 9 This is a structural block diagram of a puncture device provided in an embodiment of this application. For example... Figure 9 As shown, the puncture device 900 of this embodiment includes: a processor 910, a memory 920, and a computer program 930 stored in the memory 920 and executable by the processor 910, such as a prediction program for puncture prediction path planning. When the processor 910 executes the computer program 930, it implements the steps of each embodiment of the above-described puncture methods, for example... Figure 2 The aforementioned puncture method, or, when the processor 910 executes the computer program 930, the above-mentioned method is implemented. Figure 8 The functions of each module in the corresponding embodiment.

[0262] For example, the computer program 930 may be divided into one or more modules, one or more of which are stored in the memory 920 and executed by the processor 910 to complete this application. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 930 in the puncture device 900. For example, the computer program 930 may be divided into various unit modules, each with the specific functions described above.

[0263] The puncture device 900 may include, but is not limited to, a processor 910 and a memory 920. Those skilled in the art will understand that... Figure 9 This is merely an example of the puncture device 900 and does not constitute a limitation on the puncture device 900. It may include more or fewer components than shown, or combine certain components, or different components. For example, the puncture device may also include input / output devices, network access devices, buses, etc.

[0264] The processor 910 can be a central processing unit, or it can be other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0265] The memory 920 can be an internal storage unit of the puncture device 900, such as a hard disk or memory of the puncture device 900. The memory 920 can also be an external storage device of the puncture device 900, such as a plug-in hard disk, smart memory card, flash memory card, etc., equipped on the puncture device 900. Furthermore, the memory 920 can include both internal storage units and external storage devices of the puncture device 900.

[0266] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0267] In some embodiments, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the puncture method as described in any of the above embodiments.

[0268] In some embodiments, this application provides a computer program product that, when run on a puncture device, causes the puncture device to perform the puncture method described in any of the above embodiments. In the above embodiments, the descriptions of each embodiment have different focuses; parts not described in detail or in a particular embodiment can be referred to in the relevant descriptions of other embodiments.

[0269] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0270] In the embodiments provided in this application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0271] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0272] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0273] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0274] The implementation of all or part of the processes in the methods of the above embodiments can also be accomplished by a computer program product. When the computer program product is run on an electronic device, the electronic device can implement the steps in the various method embodiments described above.

[0275] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A puncture system, characterized in that, The puncture system includes a processor, the processor being used for: Acquire respiratory information and scan images of the target object; Based on the scanned image, determine the first location information of the impenetrable region of the target object; Based on the first location information and the respiratory information, the puncture prediction path is punctured to obtain the target respiratory pressure value range that meets the puncture verification. The puncture verification includes interference verification of the puncture prediction path. A breathing training instruction is generated based on the target respiratory pressure value range that meets the puncture verification, and the breathing training instruction is used to instruct the target object to perform breathing training. If the target object's breathing is within the target breathing pressure value that satisfies the puncture verification, a puncture prompt is generated. The puncture prompt is used to prompt the user to perform the puncture according to the puncture prediction path.

2. The system as described in claim 1, characterized in that, The step of verifying the puncture prediction path based on the first location information and the respiratory information includes: The first location information and the respiratory information are matched to obtain a matching result; The puncture prediction path is verified based on the matching results.

3. The system as described in claim 2, characterized in that, The first location information includes the location of the impenetrable area and the second time information corresponding to the location of the impenetrable area; the breathing information includes the breathing pressure value and the first time information corresponding to the breathing pressure value; the matching result includes the correspondence between the location of the impenetrable area and the breathing pressure value. The matching of the first location information and the respiratory information to obtain a matching result includes: Obtain the image delay time of the scanned image; The second time information is corrected based on the image delay time to obtain the corrected second time information; The location of the impenetrable area and the breathing pressure value are matched based on the corrected second time information and the first time information to obtain the correspondence between the location of the impenetrable area and the breathing pressure value.

4. The system as described in claim 1, characterized in that, The step of performing puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain the target respiratory pressure value range that meets the puncture verification includes: Based on the first location information and the puncture prediction path, a first distance between the impervious area and the puncture prediction path is determined, and the first distance is controlled to be displayed. In response to the user's instruction, a target respiratory pressure range corresponding to the first distance is determined, wherein the target respiratory pressure range is the respiratory pressure range corresponding to the puncture prediction path that satisfies the interference check.

5. The system as described in claim 1, characterized in that, The puncture verification also includes the verification of the object to be punctured, which is used to verify whether the puncture prediction path can pass through the object to be punctured. The step of performing puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain the target respiratory pressure value range that meets the puncture verification includes: Based on the scanned image, determine the second position information of the target object to be punctured; Based on the first location information and the puncture prediction path, a first distance between the impenetrable area and the puncture prediction path is determined; Based on the second location information, the puncture prediction path is verified to obtain the puncture object verification result. The first distance and the puncture verification result are displayed. In response to the user's instruction, a target respiratory pressure range corresponding to the first distance is determined. The target respiratory pressure range is the respiratory pressure range corresponding to the puncture prediction path that satisfies the interference check and the puncture object check.

6. The system as described in claim 1, characterized in that, The step of performing puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain the target respiratory pressure value range that meets the puncture verification includes: Based on the first location information and the puncture prediction path, a first distance between the impenetrable area and the puncture prediction path is determined; If the first distance is greater than or equal to the distance threshold, the target respiratory pressure value range that satisfies the puncture verification is determined based on the first distance. The target respiratory pressure value range is the respiratory pressure value range corresponding to the puncture prediction path that satisfies the interference verification.

7. The system as described in claim 6, characterized in that, The puncture verification also includes the verification of the object to be punctured, which is used to verify whether the puncture prediction path can pass through the object to be punctured. The determination of the target respiratory pressure value range that meets the puncture verification based on the first distance includes: Based on the first distance, determine the initial target respiratory pressure value range that satisfies the interference verification; Acquire a target scan image from the scan image that corresponds to the initial target respiratory pressure value, wherein the target scan image includes the object to be punctured; The puncture prediction path corresponding to the initial target respiratory pressure value is verified to obtain the puncture object verification result. The target respiratory pressure range is determined based on the verification results of the object to be punctured and the initial target respiratory pressure range.

8. The system as described in claim 1, characterized in that, Before acquiring the respiratory information and scan images of the target object, the processor is also used to: In response to a user's breathing instruction, an initial breathing instruction is generated. This initial breathing instruction is used to perform initial breathing training on the target object so that the target object's breathing is within the range of initial breathing pressure values.

9. The system as described in claim 8, characterized in that, The processor is also used for: If the puncture verification of the puncture prediction path fails, an initial adjustment instruction is generated. The initial adjustment instruction is used to adjust the initial respiratory pressure value range, and the target object is given initial respiratory training based on the adjusted initial respiratory pressure value range. Acquire the respiratory information and scan images of the target object after the initial respiratory training is completed, and perform puncture verification based on the respiratory information and scan images of the target object after the initial respiratory training is completed.

10. The system as claimed in claim 1, characterized in that, After determining the predicted puncture path of the puncture needle, the processor is further configured to: Obtain the first coordinate information of the puncture needle's predicted puncture trajectory in the device coordinate system; The first coordinate information is transformed to obtain the second coordinate information of the puncture prediction path in the image coordinate system; The puncture prediction path is projected onto the scanned image based on the second coordinate information and then displayed.

11. The system as claimed in claim 10, characterized in that, The scanned image includes multiple inter-slice sub-scanned images. After determining the predicted puncture path of the puncture needle, the processor is further configured to: Based on the second coordinate information, the puncture prediction path is segmented and projected onto multiple sub-scan images, and the projected sub-scan images are displayed.

12. The system as claimed in claim 11, characterized in that, The first location information of the impenetrable region of the target object is determined based on the scanned image; the puncture prediction path is verified based on the first location information and the respiratory information to obtain the target respiratory pressure value range that meets the puncture verification, including: First location information of the impenetrable region of the target object is determined based on multiple sub-scan images; Based on the first location information and the respiratory information, the puncture prediction path in each sub-scan image is segmented for puncture verification to obtain the target respiratory pressure value range that meets the puncture verification.

13. The system as claimed in claim 1, characterized in that, Before performing puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain the target respiratory pressure value range that meets the puncture verification, the processor is further configured to: Obtain candidate puncture prediction paths, and determine puncture prediction paths based on the candidate puncture prediction paths, wherein the puncture prediction paths pass through the target object to be punctured.

14. The system as claimed in claim 1, characterized in that, After performing puncture verification on the puncture prediction path based on the first location information and the respiratory information, the processor is further configured to: If the puncture prediction path fails the puncture verification, the third position information of the adjusted puncture needle is determined in response to the user's adjustment operation. The updated puncture prediction path is determined based on the third position information of the adjusted puncture needle; The updated puncture prediction path is verified based on the first location information and the breathing information.

15. A puncture device, characterized in that, include: The acquisition module is used to acquire respiratory information and scan images of the target object; The puncture verification module is used to determine the first location information of the impenetrable area of ​​the target object based on the scanned image; and to perform puncture verification on the puncture prediction path based on the first location information and the respiratory information to obtain the target respiratory pressure value range that meets the puncture verification. The puncture verification includes interference verification on the puncture prediction path. A breathing training module is used to generate a breathing training instruction based on the target breathing pressure value range, the breathing training instruction being used to instruct the target object to perform breathing training. The puncture module is used to generate a puncture prompt if the breathing of the target object meets the target breathing pressure value range. The puncture prompt is used to prompt the user to perform puncture according to the puncture prediction path.

16. A puncture method, characterized in that, The puncture method is applied to the processor of the puncture system, and the method includes: Acquire respiratory information and scan images of the target object; Based on the scanned image, determine the first location information of the impenetrable region of the target object; Based on the first location information and the respiratory information, the puncture prediction path is punctured to obtain the target respiratory pressure value range that meets the puncture verification. The puncture verification includes interference verification of the puncture prediction path. A breathing training instruction is generated based on the target respiratory pressure value range that meets the puncture verification, and the breathing training instruction is used to instruct the target object to perform breathing training. If the target object's breathing meets the target respiratory pressure value range that satisfies the puncture verification, a puncture prompt is generated. The puncture prompt is used to prompt the user to perform the puncture according to the puncture prediction path.

Images