Superficial nerve anesthesia medicine injection system based on ultrasound and control instruction generation method

Abstract

The invention relates to an ultrasonic-based superficial nerve anesthetic injection system and a control instruction generation method. The injection system comprises a base, a mechanical arm, a connecting seat, a clamping unit, an ultrasonic probe, a first L-shaped plate, a first electric cylinder, a second L-shaped plate and an injector. The mechanical arm is installed on the base, the tail end of the mechanical arm is connected with the connecting base, the clamping unit is installed on the connecting base, and the ultrasonic probe is fixed to the clamping unit. The first electric cylinder is installed on the first L-shaped plate, and the output end of the first electric cylinder is connected with the second L-shaped plate and can drive the second L-shaped plate to move in the length direction of the L-shaped plate. The second electric cylinder is installed on the second L-shaped plate, the injector is fixed to the second L-shaped plate, and the output end of the second electric cylinder acts on an injector piston to achieve piston propelling. Compared with the prior art, the ultrasonic probe is combined with the mechanical arm, the injector is accurately controlled by the electric cylinder, high-precision positioning and accurate dosage control are achieved, and the problems that traditional anesthesia is inaccurate in positioning and inaccurate in dosage control are solved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an ultrasound-based superficial nerve anesthetic drug injection system and a method for generating control commands. Background Art

[0002] In the medical field, superficial nerve anesthesia is an important clinical procedure. Its purpose is to anesthetize specific superficial nerves during medical procedures such as surgery or pain management to reduce patient pain and discomfort. Traditional methods of superficial nerve anesthesia rely primarily on the physician's experience and anatomical knowledge, delivering anesthetic drugs manually to the target nerve. However, this method has several limitations.

[0003] First, there are individual differences in human anatomy, and the location and course of superficial nerves are complex and varied. This makes it difficult for doctors to find and locate target nerves, which may lead to inaccurate injection of anesthetic drugs, affecting the anesthetic effect, or even damaging surrounding tissues or nerves.

[0004] With the development of ultrasound technology, its application in the medical field is becoming increasingly widespread. Ultrasound imaging can provide real-time images of internal tissues and organs of the human body, and has advantages such as being non-invasive, radiation-free, and convenient. In the field of neuroanesthesia, ultrasound imaging can help doctors more intuitively observe the location, morphology, and surrounding tissue structures of nerves, which helps improve the accuracy of anesthesia.

[0005] The ultrasound-guided nerve block anesthesia puncture device mentioned in CN222516949U mainly uses an ultrasound probe for real-time imaging, a robotic arm to fix the ultrasound probe and puncture needle, and completes the puncture operation with the assistance of a control system. However, the device does not have precise control over the injection depth and drug dosage, and cannot monitor the drug diffusion in real time, making it difficult to meet individualized anesthesia needs.

[0006] CN108577945A discloses an intelligent auxiliary system for nerve block anesthesia robots, which realizes intelligent operation of nerve block anesthesia through control system and robotic arm and other components. However, the system focuses on the intelligence of puncture operation and lacks fine control over the drug injection process, and thus cannot well meet the actual needs.

[0007] Traditional superficial nerve anesthesia relies heavily on the doctor's experience. Manual injection is prone to inaccurate positioning and injection due to individual differences, which may cause patient pain and complications.

[0008] However, existing anesthesia injection systems incorporating ultrasound technology still have some shortcomings. For example, the injection device and ultrasound probe do not work closely enough to achieve precise synchronous operation; the control of injection depth and drug dosage is not precise enough to meet the needs of individualized anesthesia; and the system has a low degree of automation, still requiring doctors to manually perform multiple steps, increasing the complexity and time cost of the operation.

[0009] Therefore, it is necessary to design an ultrasound-based superficial nerve anesthetic drug injection system that can more accurately locate nerves, precisely control injection depth and drug dosage, and achieve automated operation, thereby improving the safety, effectiveness and efficiency of superficial nerve anesthesia and making up for the shortcomings of existing technologies. Summary of the Invention

[0010] The purpose of this invention is to overcome the shortcomings of the existing technology by providing an ultrasound-based superficial nerve anesthetic drug injection system and control command generation method. By combining an ultrasound probe with a robotic arm and using an electric cylinder to precisely control the syringe, high-precision positioning and accurate dosage control are achieved, solving the problems of inaccurate positioning and inaccurate dosage control in traditional anesthesia.

[0011] The purpose of the present invention can be achieved by the following technical solutions:

[0012] This invention provides an ultrasound-based superficial nerve anesthetic drug injection system, comprising: a base, a robotic arm, a connecting seat, a clamping unit, an ultrasonic probe, a first L-shaped plate, a first electric cylinder, a second L-shaped plate, and a syringe, specifically:

[0013] A robotic arm is mounted on the base;

[0014] A connecting base is located at the end effector of the robotic arm;

[0015] The clamping unit is connected to the connecting seat;

[0016] An ultrasonic probe is clamped onto the clamping unit;

[0017] The first L-shaped plate is disposed on the connecting seat;

[0018] The first electric cylinder is mounted on the first L-shaped plate;

[0019] The second L-shaped plate is connected to the output end of the first electric cylinder and can be displaced along the length direction of the first L-shaped plate under the push of the first electric cylinder.

[0020] The second electric cylinder is mounted on the second L-shaped plate;

[0021] A syringe is mounted on the second L-shaped plate, and the output end of the second electric cylinder is located on one side of the piston of the syringe to advance the syringe piston. The syringe is loaded with a superficial nerve anesthetic drug.

[0022] Furthermore, the robotic arm is a six-axis robotic arm or a five-axis robotic arm.

[0023] Furthermore, one side of the clamping unit is hinged to the connecting seat.

[0024] Furthermore, the clamping unit is a U-shaped clamp, and the clamping unit is equipped with fastening bolts.

[0025] Furthermore, the first L-shaped plate is fixed to the lower surface of the connecting seat, and the main body of the first electric cylinder is connected to the end of the first L-shaped plate.

[0026] Furthermore, the first L-shaped plate is provided with a guide groove along its length, and the second L-shaped plate is provided with a guide block that matches the groove, so that the first electric cylinder can drive the second L-shaped plate to move along the direction of the guide groove.

[0027] Furthermore, the main body of the second electric cylinder is connected to the tail end of the second L-shaped plate.

[0028] Furthermore, a clamp is fixedly connected to the middle of the second L-shaped plate, and the syringe tube is fixed to the clamp.

[0029] Furthermore, the output rod of the second electric cylinder is coaxial with the push rod of the syringe.

[0030] Furthermore, the robotic arm, ultrasonic probe, first electric cylinder, and second electric cylinder are all connected to an external computer terminal for communication.

[0031] The present invention also provides a method for generating ultrasound-based control commands for the injection of superficial nerve anesthetic drugs based on the above-described injection system, comprising the following steps:

[0032] S1: Real-time ultrasound scanning of the patient's superficial nerves is performed using an ultrasound probe to generate real-time ultrasound images and transmit them to an external computer terminal. The external computer terminal determines the location of the target nerve and the injection depth based on the real-time ultrasound images and plans the injection path.

[0033] S2: Based on the planned injection path, the external computer terminal generates instructions for controlling the robotic arm, ultrasonic probe, first electric cylinder, and second electric cylinder. These control instructions include:

[0034] The robotic arm is adjusted to a suitable position and angle, while the first electric cylinder is controlled to drive the second L-shaped plate to move along the length of the first L-shaped plate, so as to precisely guide the syringe toward the target nerve area.

[0035] The second electric cylinder is activated, and its output rod pushes the piston along the same axis as the syringe plunger, injecting the anesthetic drug into the target location according to the preset dose and speed.

[0036] Furthermore, in S1, the process of automatically planning the injection path includes:

[0037] A) An external computer terminal receives real-time ultrasound images acquired by the ultrasound probe and optimizes the reconstructed nerve and surrounding tissue model in the ultrasound software.

[0038] B) Based on the image optimization, the built-in automated measurement tools of the ultrasound software are used to measure the changes of the target nerve in different planes, the depth of the target nerve from the body surface, the angular relationship with the probe puncture mark, and to mark anatomical landmarks such as bones and blood vessels that may affect the puncture.

[0039] C) Based on the measurement and labeling results, construct a three-dimensional model of the nerve and surrounding tissues. Observe the course and morphology of the target nerve from different perspectives using ultrasound software. Determine that the planned path is within the optimal puncture range of the ultrasound probe, avoid vascular structures, and select the point that is closest to the target nerve and has the shortest path and the least obstruction as the ideal puncture point and puncture path.

[0040] Further, in step A), the optimization process includes: automatically adjusting the image contrast and brightness to clearly display the neural structure and adjacent nerve and vein structures.

[0041] Furthermore, following step C), the following steps are also included:

[0042] After determining the ideal puncture point and path, the ultrasound software is used to simulate needle insertion, set the injection angle of the auto-injector, virtually display the needle insertion trajectory, and repeatedly adjust and optimize through the built-in algorithm to obtain the best needle insertion path.

[0043] If the simulated needle insertion trajectory approaches a pre-defined danger zone and the distance to a visible blood vessel is less than millimeters, a visual or auditory alarm will be issued to adjust the path or parameters.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1) This invention utilizes the multi-degree-of-freedom motion and high-precision positioning capabilities of a robotic arm to ensure that the syringe accurately reaches the target nerve region along a preset path and angle, achieving highly precise positioning. The precise control of the syringe by the electric cylinder is reflected in the fact that the linear motion of the electric cylinder can advance the syringe piston with micron-level precision, thereby achieving precise control of the anesthetic drug dosage. This effectively solves the problems of inaccurate positioning and dosage control caused by manual operation in traditional anesthesia methods, significantly improving the anesthetic effect and patient comfort.

[0046] 2) Secondly, the system integrates functions such as ultrasound imaging, robotic arm positioning, and electro-cylinder injection control, reducing reliance on doctors' manual operation experience, lowering the difficulty of operation and the risk of misoperation, and improving the success rate and safety of anesthesia. After accurately locating the target nerve using an ultrasound probe, the robotic arm precisely guides the syringe to the target position. The first electro-cylinder adjusts the axial position of the syringe, and the second electro-cylinder controls the injection dosage and speed, thereby achieving precise injection of superficial nerve anesthetic drugs. Attached Figure Description

[0047] Figure 1 This is a three-dimensional structural diagram of the ultrasound-based superficial nerve anesthetic drug injection system of the present invention.

[0048] Figure 2 This is a schematic diagram of the first working state of the ultrasound-based superficial nerve anesthetic drug injection system of the present invention.

[0049] Figure 3 This is a schematic diagram of the second working state of the ultrasound-based superficial nerve anesthetic drug injection system in this invention.

[0050] Figure 4 This is a schematic diagram of the third working state of the ultrasound-based superficial nerve anesthetic drug injection system in this invention.

[0051] In the diagram: 1. Base; 2. Robotic arm; 3. Connecting seat; 4. Clamping unit; 5. Ultrasonic probe; 6. First L-shaped plate; 7. First electric cylinder; 8. Second L-shaped plate; 9. Second electric cylinder; 10. Syringe. Detailed Implementation

[0052] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. Component models, material names, connection structures, circuit structures, control methods, algorithms, and other features not explicitly described in this technical solution are considered common technical features disclosed in the prior art.

[0053] Example 1

[0054] This embodiment provides an ultrasound-based superficial nerve anesthetic drug injection system, including: a base 1, a robotic arm 2, a connecting seat 3, a clamping unit 4, an ultrasonic probe 5, a first L-shaped plate 6, a first electric cylinder 7, a second L-shaped plate 8, and a syringe 10. See details below. Figures 1 to 4 .

[0055] In specific implementation, the robotic arm 2 is mounted on the base 1; the connecting seat 3 is located at the end of the robotic arm 2; the clamping unit 4 is connected to the connecting seat 3; the ultrasonic probe 5 is clamped on the clamping unit 4; the first L-shaped plate 6 is mounted on the connecting seat 3; the first electric cylinder 7 is mounted on the first L-shaped plate 6; and the second L-shaped plate 8 is connected to the output end of the first electric cylinder 7, and can be displaced along the length direction of the first L-shaped plate 6 under the push of the first electric cylinder 7. The base 1 can be a fixed base or a movable base.

[0056] More specifically, a clamping unit 4 is installed on the connecting base 3, and the ultrasonic probe 5 is securely clamped on this unit to ensure its stability and accuracy during operation. Simultaneously, the first L-shaped plate 6 is fixed to the connecting base 3, providing a foundation for the subsequent installation of the electric cylinder. The first electric cylinder 7 is installed on the first L-shaped plate 6, and its output end is connected to the second L-shaped plate 8. Through the extension and retraction of the electric cylinder, the second L-shaped plate 8 is pushed to make linear displacement along the length direction of the first L-shaped plate 6.

[0057] In a specific implementation, the second electric cylinder 9 is mounted on the second L-shaped plate 8; the syringe 10 is mounted on the second L-shaped plate 8, and the output end of the second electric cylinder 9 is located on the piston side of the syringe 10, thereby advancing the piston of the syringe 10, which is loaded with a superficial nerve anesthetic drug.

[0058] More specifically, when anesthesia is required, the second electric cylinder 9 is activated, and its output end moves linearly, directly pushing the piston of the syringe 10. This causes the piston to move smoothly and precisely within the cylinder of the syringe 10, thereby accurately injecting the superficial nerve anesthetic drug loaded in the syringe 10 into the patient's body according to the preset dosage and speed, ensuring the controllability and accuracy of the anesthesia process.

[0059] In specific implementation, the robotic arm 2 is a six-axis or five-axis robotic arm. One side of the clamping unit 4 is hinged to the connecting seat 3. The clamping unit 4 is a U-shaped clamp, and a fastening bolt is provided on the clamping unit 4. The hinge between the clamping unit 4 and the connecting seat 3 is a shaft hinge, and the tightness of the hinge can be adjusted.

[0060] In specific implementation, the first L-shaped plate 6 is fixed to the lower surface of the connecting seat 3, and the main body of the first electric cylinder 7 is connected to the end of the first L-shaped plate 6. The first L-shaped plate 6 is provided with a guide groove along its length, and the second L-shaped plate 8 is provided with a guide block that matches the groove, so that the first electric cylinder 7 can drive the second L-shaped plate 8 to move along the direction of the guide groove.

[0061] In practice, the main body of the second electric cylinder 9 is connected to the tail end of the second L-shaped plate 8. A clamp is fixedly connected to the middle of the second L-shaped plate 8, and the tube of the syringe 10 is fixed to the clamp.

[0062] In practice, the output rod of the second electric cylinder 9 is coaxial with the push rod of the syringe 10. The robotic arm 2, ultrasonic probe 5, first electric cylinder 7, and second electric cylinder 9 are all connected to an external computer terminal.

[0063] More specifically, the first L-shaped plate 6 is fixed to the lower surface of the connecting seat 3, and its end is connected to the body of the first electric cylinder 7. A guide groove along the length of the plate matches the guide slider on the second L-shaped plate 8, enabling the first electric cylinder 7 to drive the second L-shaped plate 8 to move stably along the guide groove. Simultaneously, the body of the second electric cylinder 9 is connected to the tail end of the second L-shaped plate 8, and a clamp in the middle of the plate fixes the tube of the syringe 10. The output rod of the second electric cylinder 9 is coaxial with the push rod of the syringe 10, ensuring that the push rod can smoothly and accurately push the piston. The entire system achieves coordinated control of the robotic arm 2, the ultrasonic probe 5, the first electric cylinder 7, and the second electric cylinder 9 through an external computer terminal. After the ultrasonic probe 5 accurately locates the target nerve, the robotic arm 2 precisely guides the syringe 10 to the target position. The first electric cylinder 7 adjusts the axial position of the syringe 10, and the second electric cylinder 9 controls the injection dosage and speed, thereby achieving precise injection of superficial nerve anesthetic drugs. For the specific operation process, see [link to relevant documentation]. Figure 2 , Figure 3 , Figure 4 The three states correspond to each other in sequence.

[0064] Example 2

[0065] This embodiment provides a method for generating ultrasound-based control commands for the injection of superficial nerve anesthetic drugs based on the injection system described above, comprising the following steps:

[0066] S1: Real-time ultrasound scanning of the patient's superficial nerves is performed using ultrasound probe 5, generating real-time ultrasound images and transmitting them to an external computer terminal. The external computer terminal determines the location of the target nerve and the injection depth based on the real-time ultrasound images and plans the injection path.

[0067] S2: Based on the planned injection path, the external computer terminal generates instructions for controlling the robotic arm 2, ultrasonic probe 5, first electric cylinder 7, and second electric cylinder 9. These control instructions include:

[0068] The robotic arm 2 is adjusted to a suitable position and angle, while the first electric cylinder 7 is controlled to drive the second L-shaped plate 8 to move along the length of the first L-shaped plate 6, so as to precisely guide the syringe 10 toward the target nerve area.

[0069] The second electric cylinder 9 is activated, and its output rod pushes the piston along the same axis as the push rod of the syringe 10, injecting the anesthetic drug into the target location according to the preset dose and speed.

[0070] In specific implementation, the automatic injection path planning process in S1 includes the following steps:

[0071] a. An external computer terminal receives real-time ultrasound images acquired by the ultrasound probe and the accompanying ultrasound software. The software optimizes the reconstructed nerve and surrounding tissue model and automatically adjusts parameters such as image contrast and brightness to clearly display the nerve structure and adjacent important structures such as nerves and veins.

[0072] b. Based on image optimization, the software's built-in automated measurement tools are used to accurately measure the changes of the target nerve in different planes, the depth of the target nerve from the body surface, and the angular relationship with the probe puncture marking point, and automatically mark anatomical landmarks such as bones and blood vessels that may affect the puncture.

[0073] c. Based on the above measurement and labeling results, a three-dimensional model of the nerve and surrounding tissues is constructed. The automated analysis software observes the course and morphology of the target nerve from different perspectives, determines the planned path within the optimal puncture range of the ultrasound probe, avoids vascular structures, and selects the point closest to the target nerve with the shortest path and the least obstruction as the ideal puncture point and puncture path.

[0074] d. After determining the ideal puncture point and path, use the software's simulated needle insertion function to set the syringe injection angle to 45 degrees, virtually display the needle insertion trajectory, and repeatedly adjust and optimize through the built-in algorithm to obtain the optimal needle insertion path;

[0075] e. If the simulated needle insertion trajectory approaches a pre-set danger zone, such as when the distance to a visible blood vessel is less than a millimeter (the value ranges from 2 to 5 millimeters, and the specific value can be adjusted based on clinical experience and equipment precision), a visual or audible alarm will be automatically issued to remind the operator to adjust the path or parameters.

[0076] In practice, a real-time ultrasound scan of the patient's superficial nerves is performed using ultrasound probe 5, generating high-resolution real-time ultrasound images that are transmitted to an external computer terminal. The external computer terminal optimizes the ultrasound images, automatically adjusting contrast and brightness to clearly display the nerve structure and adjacent important tissues, such as nerves and veins. Automated measurement tools precisely measure the changes in the target nerve in different planes, the depth of the target nerve from the body surface, and the angular relationship with the probe puncture point. Simultaneously, anatomical landmarks such as bones and blood vessels that may affect puncture are automatically marked. Based on this data, a three-dimensional model of the nerve and surrounding tissues is constructed. Automated analysis software analyzes the course and morphology of the target nerve from different perspectives, determining that the planned path is within the optimal puncture range of ultrasound probe 5, avoiding vascular structures, and selecting the point closest to the target nerve, with the shortest path and least obstruction, as the ideal puncture point and path. The syringe injection angle is set to 45 degrees, and the needle trajectory is virtually displayed. The system repeatedly adjusts and optimizes the trajectory using built-in algorithms to obtain the optimal needle path. If the simulated needle trajectory approaches a danger zone, the system automatically issues a visual or auditory alarm. After the injection path is planned, the external computer terminal controls the robotic arm 2 to precisely adjust to the appropriate position and angle. Simultaneously, it controls the first electric cylinder 7 to drive the second L-shaped plate 8 to move along the length of the first L-shaped plate 6, accurately guiding the syringe 10 to the target nerve region. Upon reaching the target position, the external computer terminal controls the second electric cylinder 9 to activate. Its output rod pushes the piston along the same axis as the syringe 10 push rod, injecting the anesthetic drug around the target nerve according to the preset dosage and speed, completing the injection. Throughout the process, the ultrasound probe 5 continuously provides real-time image feedback to ensure the consistency of the syringe 10's path with the planned path and performs automatic corrections when necessary.

[0077] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. An ultrasound-based superficial nerve anesthetic drug injection system, characterized in that, include: Base (1); A robotic arm (2) is mounted on the base (1); A connecting seat (3) is provided at the end of the robotic arm (2); The clamping unit (4) is connected to the connecting seat (3); An ultrasonic probe (5) is clamped onto the clamping unit (4); The first L-shaped plate (6) is disposed on the connecting seat (3); The first electric cylinder (7) is mounted on the first L-shaped plate (6); The second L-shaped plate (8) is connected to the output end of the first electric cylinder (7) and can be displaced along the length direction of the first L-shaped plate (6) under the push of the first electric cylinder (7); The second electric cylinder (9) is mounted on the second L-shaped plate (8); A syringe (10) is mounted on the second L-shaped plate (8), and the output end of the second electric cylinder (9) is located on the piston side of the syringe (10) to advance the piston of the syringe (10). The syringe (10) is loaded with a superficial nerve anesthetic drug.

2. The ultrasound-based superficial nerve anesthetic drug injection system according to claim 1, characterized in that, The robotic arm (2) is a six-axis robotic arm or a five-axis robotic arm; One side of the clamping unit (4) is hinged to the connecting seat (3); The clamping unit (4) is a U-shaped clamp, and the clamping unit (4) is provided with fastening bolts.

3. The ultrasound-based superficial nerve anesthetic drug injection system according to claim 1, characterized in that, The first L-shaped plate (6) is fixed to the lower surface of the connecting seat (3), and the main body of the first electric cylinder (7) is connected to the end of the first L-shaped plate (6).

4. The ultrasound-based superficial nerve anesthetic drug injection system according to claim 1, characterized in that, The first L-shaped plate (6) is provided with a guide groove along its length, and the second L-shaped plate (8) is provided with a guide block that matches the groove, so that the first electric cylinder (7) can drive the second L-shaped plate (8) to move along the direction of the guide groove.

5. The ultrasound-based superficial nerve anesthetic drug injection system according to claim 1, characterized in that, The main body of the second electric cylinder (9) is connected to the tail end of the second L-shaped plate (8); A clamp is fixedly connected to the middle of the second L-shaped plate (8), and the tube of the syringe (10) is fixed to the clamp; The output rod of the second electric cylinder (9) is coaxial with the push rod of the syringe (10).

6. The ultrasound-based superficial nerve anesthetic drug injection system according to claim 1, characterized in that, The robotic arm (2), ultrasonic probe (5), first electric cylinder (7), and second electric cylinder (9) are all connected to an external computer terminal for communication.

7. A method for generating ultrasound-based control commands for injecting superficial nerve anesthetic drugs using an injection system as described in any one of claims 1 to 6, characterized in that, The process includes the following: S1: The superficial nerves of the patient are scanned in real time by an ultrasound probe (5), real-time ultrasound images are generated and transmitted to an external computer terminal. The external computer terminal determines the location of the target nerve and the injection depth based on the real-time ultrasound images and plans the injection path. S2: Based on the planned injection path, the external computer terminal generates instructions for controlling the robotic arm (2), ultrasonic probe (5), first electric cylinder (7), and second electric cylinder (9). The control instructions include: The robotic arm (2) is adjusted to a suitable position and angle, and the first electric cylinder (7) is controlled to drive the second L-shaped plate (8) to move along the length direction of the first L-shaped plate (6), so as to precisely guide the syringe (10) toward the target nerve area. The second electric cylinder (9) is activated, and its output rod pushes the piston along the same axis as the syringe (10) push rod, injecting the anesthetic drug into the target position according to the preset dose and speed.

8. The method for generating control instructions for superficial nerve anesthetic drug injection based on ultrasound according to claim 7, characterized in that, In S1, the process of planning the injection path includes: A) An external computer terminal receives real-time ultrasound images acquired by the ultrasound probe (5) and optimizes the reconstructed nerve and surrounding tissue model in the ultrasound software. B) Based on the image optimization, the built-in automated measurement tools of the ultrasound software are used to measure the changes of the target nerve in different planes, the depth of the target nerve from the body surface, the angular relationship with the probe puncture mark, and to mark anatomical landmarks such as bones and blood vessels that may affect the puncture. C) Based on the measurement and labeling results, construct a three-dimensional model of the nerve and surrounding tissues. Observe the course and morphology of the target nerve from different perspectives using ultrasound software. Determine that the planned path is within the optimal puncture range of the ultrasound probe, avoid vascular structures, and select the point that is closest to the target nerve and has the shortest path and the least obstruction as the ideal puncture point and puncture path.

9. A method for generating control instructions for superficial nerve anesthetic drug injection based on ultrasound according to claim 8, characterized in that, In step A), the optimization process includes: automatically adjusting the image contrast and brightness to clearly display the neural structure and adjacent nerve and vein structures.

10. The method for generating control instructions for superficial nerve anesthetic drug injection based on ultrasound according to claim 8, characterized in that, Following step C), the following steps are also included: After determining the ideal puncture point and path, the simulated needle insertion function of the ultrasound software is used to set the injection angle of the syringe, virtually display the needle insertion trajectory, and repeatedly adjust and optimize through the built-in algorithm to obtain the best needle insertion path. If the simulated needle insertion trajectory approaches a pre-defined danger zone and the distance to a visible blood vessel is less than millimeters, a visual or auditory alarm will be issued to adjust the path or parameters.

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