Ultrasonic positioning intelligent guide puncture device and using method thereof

Abstract

The invention discloses an ultrasonic positioning intelligent guide puncture device and a using method thereof, and relates to the technical field of medical instruments. Comprising a probe clamp used for fixing an ultrasonic probe; the vasoreceptor is arranged at the position attached to the ultrasonic probe; scales are marked on the surface of the slideway, and the left end of the slideway is connected with the probe clamp; the needle feeding frame is arranged above the slide way and is used for placing a syringe needle; the bottom of the telescopic sliding support is connected with the slideway and can slide on the slideway, and an injector needle cylinder is placed on the top of the telescopic sliding support and used for adjusting the optimal angle of an injector; the intelligent liquid crystal display is used for displaying relative positions of the detection needle and the blood vessel. Accurate locking of the needle inserting angle and position can be achieved, the puncture operation gets rid of dependence on clinical experience, the working efficiency is remarkably improved, and meanwhile the puncture success rate is effectively increased.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an ultrasound-guided intelligent puncture device and its usage method. Background Technology

[0002] In recent years, with the improvement of ultrasound instrument performance, the refinement of puncture needles and the popularization of artificial intelligence, ultrasound-guided puncture technology has been widely used in clinical diagnosis, enabling many diseases, especially tumors, to be diagnosed and treated in a timely and accurate manner, such as thoracic, abdominal and multi-site venous puncture.

[0003] Currently, existing ultrasound-guided puncture techniques, including ultrasound localization, marking, puncture, or guided puncture, have the following problems during the puncture process:

[0004] 1. While a single ultrasound device can acquire vascular dynamics in real time, it is easily affected by bone and gas interference, and its spatial positioning accuracy is limited. External vascular detection devices (such as near-infrared spectrometers, intravascular ultrasound, etc.) can supplement the information on the vascular lumen, blood flow, pressure, or high-precision positioning, but they lack the overall anatomical context.

[0005] II. During ultrasound-guided procedures, the operator needs to perform the following actions: directly view the ultrasound monitor screen, hold the ultrasound probe to perform ultrasound imaging, and hold the syringe to perform punctures. This complex procedure increases the difficulty of the operation. On the one hand, it requires a high level of ultrasound knowledge from the doctor, as they need to understand how to correctly adjust the needle insertion and puncture direction if deviation occurs during the puncture. On the other hand, it also demands a high degree of hand-eye coordination from the doctor. In actual punctures, the puncture needle is prone to deviating from the ultrasound plane, resulting in an image without a needle, making imaging difficult, prolonging the operation time, and increasing the difficulty of the procedure.

[0006] Third, after ultrasound localization, disinfection, and draping, the final determination of the puncture site and the angle of puncture are often based on the clinical experience of the operator, and it is impossible to identify, display, and accurately restore the angle and direction of the probe during localization.

[0007] Fourth, if a dedicated ultrasound doctor is assigned to assist in the operation, it not only places high demands on the ultrasound doctor but also results in a huge consumption of resources and personnel.

[0008] Utility model CN205458948U discloses an ultrasound-guided puncture device, including a probe holder for holding the ultrasound probe and a puncture needle sleeve for guiding the movement of the puncture needle. This utility model ensures that all movements of the puncture needle remain within the ultrasound plane. The puncture needle sleeve can move along a groove and rotate around its bottom end, allowing the puncture needle to move linearly and rotary after entering the sleeve to adjust the depth and angle of insertion. However, in cases such as thoracentesis and paracentesis where the puncture point and angle are critical, this device cannot accurately reproduce the position and angle of the puncture point under ultrasound guidance, and it cannot intelligently guide the direction and depth of the needle tip, resulting in a significant difference between the insertion depth and the depth indicated by the ultrasound.

[0009] Therefore, with the advent of the artificial intelligence era, there is an urgent need for an ultrasound-guided intelligent puncture device to overcome the above-mentioned shortcomings and meet the requirements of simple structure, convenient adjustment, rapid ultrasound positioning, and intelligent puncture guidance. Summary of the Invention

[0010] The purpose of this invention is to provide an ultrasonic-guided intelligent puncture device and its usage method. The device has a simple structure, is easy to adjust, and can quickly complete ultrasonic positioning to achieve intelligent guidance of the position, angle, and direction of the puncture needle insertion point.

[0011] To achieve the above objectives, this application proposes an ultrasound-guided intelligent puncture device, including a probe clip, a vascular sensor, a slide rail, a needle insertion frame, a retractable sliding support, and an intelligent liquid crystal display.

[0012] The probe clip is used to fix the ultrasonic probe;

[0013] The vascular sensor is positioned in contact with the ultrasound probe.

[0014] The ultrasound probe extracts two-dimensional image information, and the blood vessel detector extracts data information. The information obtained from both is used as input to the microprocessor of the intelligent liquid crystal display, and the information is fused to obtain dynamic 3D blood vessel information, which is then displayed in real time.

[0015] The slide rail has graduations marked on its surface, and its left end is connected to the probe clamp. The interior is a hollow structure.

[0016] The needle insertion frame includes a needle insertion guide hole and an angle adjustment component. The needle insertion guide hole is a hollow cylinder. The angle adjustment component is a hollow flat cylinder and includes a rotating handle, a fixed shaft, an angle sensor, a needle outlet hole, and an angle scale. It contains a Python program code chip, which controls the angle sensor. The rotating handle is marked with an angle scale and is fixed to the slide rail by the fixed shaft. The angle sensor is placed on the rotating handle to control the angle of the angle adjustment component. The top of the angle adjustment component is vertically connected to the needle insertion guide hole, its hollow part is connected to the hollow part of the guide hole, and its bottom is connected to the slide rail.

[0017] The retractable sliding bracket consists of a semi-circular syringe holder, a retractable support rod, a sliding assembly, and a motor. It contains a Python program code chip, which controls the motor to adjust the height of the retractable sliding bracket and the distance between the retractable sliding bracket and the needle. Given the adjacent right-angled side a of angle θ, the opposite right-angled side b can be calculated according to the formula: b = atanθ. This achieves the purpose of adjusting the syringe to the optimal angle and position by matching the angle of the needle insertion frame.

[0018] The intelligent LCD display includes a micro intelligent processor, which embeds a real-time feedback system framework based on ultrasonic image processing and computer vision; the real-time feedback system framework uses Python and OpenCV to implement basic functions.

[0019] In one embodiment, the intelligent liquid crystal display is implemented by including the following steps:

[0020] Using the two-dimensional image information of the ultrasound probe and the data information of the blood vessel detector as input, 3D blood vessel information is obtained by using existing fusion algorithms;

[0021] The 3D blood vessel information was denoised by Gaussian blur and preprocessed in color space.

[0022] Hough circular transform is used to detect blood vessel cross sections in the preprocessed video stream. The radius range parameter is modified according to actual needs. If multiple circles are detected, the selection strategy is adjusted according to actual needs.

[0023] Initial segmentation is performed by obtaining a mask through color thresholding, and the needle is identified using contour analysis and geometric features. The position of the needle is determined by using the minimum bounding rectangle.

[0024] The micro-intelligent processor calculates the distance between the needle and the center of the blood vessel and the needle insertion angle in real time, providing spatial coordinate information.

[0025] The micro-intelligent processor calculates the distance between the needle and the center of the blood vessel and the needle insertion angle in real time, providing spatial coordinate information.

[0026] It displays the distance between the needle tip and the center of the blood vessel, the needle insertion angle, and spatial coordinate information in real time.

[0027] The present invention also provides a method of using an ultrasound-guided intelligent puncture device, comprising:

[0028] The intelligent LCD display takes the two-dimensional image information of the ultrasound probe and the data information of the blood vessel detector as input, and uses existing fusion algorithms to obtain 3D blood vessel information;

[0029] After disinfection and draping with sterile sheets, the target blood vessel is placed under the ultrasound-guided intelligent puncture device. The syringe is guided by the needle insertion frame, and the angle of the needle insertion frame, the height of the telescopic sliding support, and the distance between the needle and the needle are adjusted.

[0030] The ultrasound image processing and computer vision real-time feedback system of the debugging equipment calculates the relative position of the syringe needle entry point and the blood vessel, and displays the spatial coordinate information of the relative position after data processing in real time on the intelligent LCD screen in 3D.

[0031] Based on the 3D relative position spatial coordinate information displayed in real time on the intelligent LCD screen, the angle and depth of the puncture needle are adjusted into the blood vessel, and the data is recorded.

[0032] The advantages of the above technical solutions adopted in this invention compared with the prior art are as follows:

[0033] (1) By using the two-dimensional image information of the ultrasound probe and the data information of the blood vessel detector as input, the ambiguity of ultrasound imaging in deep blood vessels can be compensated, the recognition rate of complex structures such as blood vessel branches and malformations can be improved, and three-dimensional navigation basis can be provided for puncture surgery.

[0034] (2) Through intelligent real-time data collection, the precise control and coordination of the needle insertion system can be achieved. On the one hand, it is easy to operate, avoids repeated positioning, shortens operation time, and makes the puncture operation process smoother; on the other hand, it can precisely adjust the puncture angle to meet the needs of multiple sites and different puncture angles in clinical practice (such as thoracentesis, paracentesis, and venous puncture).

[0035] (3) This device has a miniature intelligent processor, which constructs a real-time feedback system framework for ultrasound image processing and computer vision to detect the relative position of the needle and the blood vessel. It establishes a linkage system for needle angle, stent distance and height, making the puncture process 3D visualized. It can display the distance and angle in three-dimensional directions and can guide the puncture operation in real time;

[0036] (4) This device is designed based on the parameters of existing ultrasound equipment widely used in domestic hospitals. The interface parameters can be flexibly configured through programmable logic devices (CPLD) or field programmable gate arrays (FPGA) to adapt to the interface requirements of different ultrasound machines. This can make full use of current resources, upgrade equipment at low cost, and meet clinical needs. Attached Figure Description

[0037] Figure 1 This is a structural diagram of an ultrasound-guided intelligent puncture device.

[0038] Figure 2 View of the slide rail components;

[0039] Figure 3 View of the retractable sliding bracket component;

[0040] Figure 4 View of the needle holder component;

[0041] Figure 5 This is a schematic diagram illustrating the working principle of a smart LCD display.

[0042] The numbers in the diagram are explained as follows: 1. Probe clip; 2. Intelligent LCD display; 3. Slide rail; 4. Telescopic sliding bracket; 5. Syringe; 6. Needle holder; 7. Artery detector; 301. Motor control assembly; 302. Slide rail groove; 303. Scale; 401. Syringe holder; 402. Node fixing groove; 403. Lifting frame fixing node; 404. Electric control lifting nut; 405. Lifting frame; 406. Precision lead screw; 407. Sliding assembly; 408. Motor; 601. Needle guide hole; 602. Rotating handle; 603. Fixed shaft; 604. Angle sensor; 605. Needle exit hole; 606. Angle scale; 607. Guide groove. Detailed Implementation

[0043] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0044] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise expressly specified. "Several" means one or more, unless otherwise expressly specified.

[0046] In the description of this application, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0047] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0048] It should be noted that the punctures referred to in this invention are preferably thoracentesis, paracentesis, various veins (internal jugular vein, femoral vein, axillary vein, subclavian vein), arteries, biopsy ablation, etc. Of course, the puncture positioning device provided by this invention is also applicable to ultrasound-guided punctures at other sites, and there are no special limitations on this. Those skilled in the art can choose according to actual needs.

[0049] Example 1

[0050] Please see Figure 1-4 This embodiment provides an intelligent ultrasound-guided puncture device, comprising:

[0051] 1. Probe clip; 2. Intelligent LCD display; 3. Slide rail; 4. Telescopic sliding bracket; 5. Syringe; 6. Needle holder; 7. Artery detector.

[0052] In this embodiment, probe clip 1 is used to fix the ultrasonic probe;

[0053] In this embodiment, the intelligent liquid crystal display 2 includes a chip for displaying information about the needle and blood vessels. The chip embeds a real-time feedback system framework based on ultrasound image processing and computer vision. The real-time feedback framework is implemented using Python and OpenCV. Its key functions include: 1. Artery detection: Detecting the cross-section of the blood vessel using Hough circle transform, modifying the radius range parameter according to actual needs, and selecting the most central vessel when detecting multiple vessels; 2. Needle detection: Preliminary segmentation using a mask obtained through color thresholding, identifying the needle using contour analysis and geometric features, and determining the needle position using the minimum bounding rectangle; 3. Relative position calculation: Real-time calculation of the distance between the needle tip and the center of the artery, the needle insertion angle, and providing spatial coordinate information; 4. Needle insertion guidance: Establishing an image coordinate system from the collected position information and converting it into a physical simulation 3D coordinate mapping. Preoperative calibration using a standard phantom coordinate system verifies the pixel physical size ratio conversion relationship; real-time intraoperative guidance, providing the angle and direction to be adjusted, and automatic pause and recalibration if the target is lost for more than 3 seconds; automatic generation of a three-dimensional puncture path report postoperatively; 5. Visual feedback: Real-time display of detection results, overlaying position markers and numerical information.

[0054] Further optimization and expansion of functions: 1. Hardware integration with OpenIGTLink for communication with ultrasound equipment; 2. Use of pre-trained models for vessel segmentation, with the machine employing a deep learning model to increase its guidance and positioning accuracy; 3. Use of AR 3D visualization and virtual guide lines for augmented reality display. Simultaneously, multiple ultrasound machine interfaces are configured. Based on the parameters of existing ultrasound equipment widely used in domestic hospitals, the interface parameters are flexibly configured through programmable logic devices (CPLDs) or field-programmable gate arrays (FPGAs) to adapt to the interface requirements of different ultrasound machines, achieving full utilization of existing resources and low-cost upgrades to medical equipment.

[0055] The slide rail 3 includes a motor control component 301 (including control components and a motor), a slide rail groove 302, and a scale 303. The interior is a hollow structure, and the surface is marked with a scale. The needle tip position is marked as 0. The needle feeder can rotate along the slide rail direction.

[0056] The telescopic sliding bracket 4 includes a syringe holder 401, a node fixing groove 402, a lifting frame fixing node 403, an electrically controlled lifting nut 404, a lifting frame 405, a precision lead screw (screw) 406, a sliding assembly 407, and a motor 408. The purpose of the node fixing groove 402 is to ensure the stability of the telescopic rod in the vertical plane when it rises and falls under the control of the motor. In this embodiment, the telescopic method uses a precision lead screw (screw) drive, converting the rotational motion of the motor into linear motion. This is achieved by the electrically controlled lifting nut 404 and the precision lead screw (screw) 406. The principle is that the motor 408 drives the precision lead screw (screw) 406 to rotate, and the nut moves linearly along the thread, pushing the telescopic rod. This design has the advantages of simple structure, large thrust, and high precision. The sliding assembly 407 is a set of cylindrical pulleys placed in a slide groove and moving along the slide under the control of the motor 408.

[0057] In this embodiment, syringe 5 is a standard component of each puncture kit.

[0058] The needle feed bracket 6 includes a needle feed guide hole 601, a rotating handle 602, a fixed shaft 603, an angle sensor 604, a needle exit hole 605, an angle scale 606, and a guide groove 607. This design allows the needle to enter through the guide hole 601, which is connected to the rotating handle 602. The guide groove 607 is a hollow structure, and the fixed shaft 603 is fixed to the groove of the slide rail 3. The angle sensor 604 is located on both sides of the needle exit hole 605, at the same horizontal level. When the needle feed bracket is perpendicular to the slide rail, the angle sensor 604 is set to a 90-degree angle, and when the two are completely aligned, it is 0 degrees. After angle adjustment, the angle data can be transmitted to the processor, which can then coordinately adjust the sliding distance and height of the retractable sliding bracket.

[0059] The blood vessel detector uses an artery detector 7 to place the target blood vessel in the center of the operating field of view.

[0060] Example 2

[0061] This embodiment provides a specific method for using an intelligent ultrasound-guided puncture device, as follows:

[0062] The intelligent LCD display takes the two-dimensional image information of the ultrasound probe and the data information of the blood vessel detector as input, and uses existing fusion algorithms to obtain 3D blood vessel information;

[0063] After disinfection and draping with sterile sheets, the target blood vessel is placed under the ultrasound-guided intelligent puncture device. The syringe is guided by the needle insertion frame, and the angle of the needle insertion frame, the height of the telescopic sliding support, and the distance between the needle and the needle are adjusted.

[0064] The ultrasound image processing and computer vision real-time feedback system of the debugging equipment calculates the relative position of the syringe needle entry point and the blood vessel, and displays the spatial coordinate information of the relative position after data processing in real time on the intelligent LCD screen in 3D.

[0065] Based on the 3D relative position spatial coordinate information displayed in real time on the intelligent LCD screen, the angle and depth of the puncture needle are adjusted into the blood vessel, and the data is recorded.

[0066] For pleural effusion or ascites puncture, the target puncture point can be set to the point with the greatest fluid depth and the smallest distance from the body surface. At the same time, the patient's reaction should be inquired and observed during the operation. There should be no pain or difficulty breathing. In addition, it can be applied to biopsy and ablation clinical operations. If a puncture biopsy is required, the puncture needle can be replaced with a biopsy needle to achieve accurate sampling, especially when the mass is <1cm. At the same time, it can be observed whether there is bleeding inside after the biopsy.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. 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. Such 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.

Claims

1. An ultrasound-guided intelligent puncture device, characterized in that, include: Probe clip, used to fix the ultrasonic probe; The vascular receptor is positioned to fit in contact with the ultrasound probe. The slide has graduations marked on its surface, and the left end of the slide is connected to the probe clip. The needle holder, located above the slide, is used to hold the syringe needle; The retractable sliding bracket is connected to the slide rail at the bottom, allowing it to slide on the slide rail. The top is used to hold the syringe barrel for adjusting the optimal angle of the syringe. A smart LCD display is used to show information about the needle and blood vessel.

2. The ultrasonic-guided intelligent puncture device according to claim 1, characterized in that, The ultrasound probe extracts two-dimensional image information, and the blood vessel detector extracts data information. The information obtained from both is used as input to the microprocessor of the intelligent liquid crystal display, and the information is fused to obtain dynamic 3D blood vessel information, which is then displayed in real time.

3. The ultrasound-guided intelligent puncture device according to claim 1, characterized in that, The slide has a hollow internal structure.

4. The ultrasound-guided intelligent puncture device according to claim 1, characterized in that, The needle insertion frame includes a needle insertion guide hole and an angle adjustment component.

5. The ultrasound-guided intelligent puncture device according to claim 1, characterized in that, The needle guide hole is a hollow cylinder; the angle adjustment component is a hollow flat cylinder, including a rotating handle, a fixed shaft, an angle sensor, a needle outlet hole, and an angle scale. It contains a Python program code chip, which controls the angle sensor. The rotating handle is marked with an angle scale and is fixed to the slide rail by the fixed shaft. The angle sensor is placed on the rotating handle to control the angle of the angle adjustment component. The top of the angle adjustment component is vertically connected to the needle guide hole, and its hollow part is connected to the hollow part of the guide hole.

6. The ultrasound-guided intelligent puncture device according to claim 1, characterized in that, The retractable sliding bracket includes a semi-circular syringe holder, a retractable support rod, a sliding component, and a motor. It contains a Python program code chip, which controls the motor to adjust the height of the retractable sliding bracket and the distance between the retractable sliding bracket and the needle, thereby achieving the purpose of adjusting the syringe to the optimal angle and position by matching the angle with the needle insertion frame.

7. The ultrasonic-guided intelligent puncture device according to claim 1, characterized in that, The implementation of the intelligent liquid crystal display includes: Using the two-dimensional image information of the ultrasound probe and the data information of the blood vessel detector as input, 3D blood vessel information is obtained by using existing fusion algorithms; Preprocessing operations include Gaussian blur denoising and color space conversion of 3D blood vessel information; Using Hough circular transform, blood vessel cross sections are detected in a preprocessed video stream; Initial segmentation is performed by obtaining a mask through color thresholding, and the needle is identified using contour analysis and geometric features. The position of the needle is determined by using the minimum bounding rectangle. The micro-intelligent processor calculates the distance between the needle and the center of the blood vessel and the needle insertion angle in real time, providing spatial coordinate information. It displays the distance between the needle tip and the center of the blood vessel, the needle insertion angle, and spatial coordinate information in real time.

8. A method of using an ultrasound-guided intelligent puncture device, characterized in that, include: The intelligent LCD display takes the two-dimensional image information of the ultrasound probe and the data information of the blood vessel detector as input, and uses existing fusion algorithms to obtain 3D blood vessel information; After disinfection and draping with sterile sheets, the target blood vessel is placed under the ultrasound-guided intelligent puncture device. The syringe is guided by the needle insertion frame, and the angle of the needle insertion frame, the height of the telescopic sliding support, and the distance between the needle and the needle are adjusted. The ultrasound image processing and computer vision real-time feedback system of the debugging equipment calculates the relative position of the syringe needle entry point and the blood vessel, and displays the spatial coordinate information of the relative position after data processing in real time on the intelligent LCD screen in 3D. Based on the 3D relative position spatial coordinate information displayed in real time on the intelligent LCD screen, the angle and depth of the puncture needle are adjusted into the blood vessel, and the data is recorded.

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