Double-laser-surface cross positioning system integrated with ultrasonic probe

Abstract

The invention discloses a double-laser-plane cross positioning system integrated with an ultrasonic probe, and relates to the field of medical instruments.The double-laser-plane cross positioning system comprises a probe body, a first laser module is installed on the inner wall of the probe body, a light guide pipe is installed on the inner wall of the probe body, one end of the light guide pipe is installed at the output end of the first laser module, and the other end of the light guide pipe is installed at the output end of the second laser module; the other end of the light guide pipe is inserted into one side of the probe main body in a penetrating manner; a fixing frame is installed on one side of the probe body, a second laser module is rotationally connected to the inner wall of the fixing frame, and the fixing frame rotates with the output end of the second laser module as the circle center; according to the double-laser-plane cross positioning system integrated with the ultrasonic probe, through integrated arrangement of the probe main body, the first laser module and the light guide pipe, laser rays representing an ultrasonic imaging plane are directly projected to the body surface of a patient, so that an invisible ultrasonic scanning plane is visualized; therefore, a doctor can intuitively, quickly and accurately correspond the screen image to the anatomical position of the body surface of the patient.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a dual-laser cross-positioning system integrated with an ultrasound probe. Background Technology

[0002] With the continuous advancement of medical technology, ultrasound imaging plays a crucial role in clinical diagnosis and treatment due to its advantages of being non-invasive, real-time, and cost-effective. Especially in the field of interventional surgery, ultrasound-guided technology provides valuable operational guidance to doctors by offering real-time images of internal structures. However, traditional ultrasound-guided methods rely heavily on doctors' spatial interpretation ability of two-dimensional ultrasound images, that is, accurately converting the image information on the screen into the actual position in the three-dimensional surgical space. This process requires a high level of experience and skill from the doctor.

[0003] Although various auxiliary positioning methods have been developed in existing technologies, such as electromagnetic navigation systems and optical tracking systems, to improve the accuracy of ultrasound guidance, the ultrasound scanning plane lacks intuitive physical markers on the patient's body surface. After the doctor identifies the target area on the ultrasound image, they must rely on their spatial imagination and manually adjust the probe position to try to correspond the target point in the image with its actual location on the patient's body surface. This process is not only time-consuming and laborious, but also prone to inaccurate positioning due to human factors. Especially during deep tissue punctures or delicate surgical procedures, even minor positioning deviations can seriously affect the surgical outcome and even cause unnecessary harm to the patient. Therefore, improvements are needed. Summary of the Invention

[0004] The purpose of this invention is to provide a dual-laser cross-positioning system integrated with an ultrasound probe to solve the problem in the prior art where the ultrasound scanning plane lacks intuitive physical markers on the patient's body surface, making it difficult for doctors to accurately and quickly correspond the screen image with the anatomical position on the patient's body surface.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a dual-laser surface cross-positioning system integrated with an ultrasonic probe, comprising a probe body, a first laser module installed on the inner wall of the probe body, a light guide tube installed on the inner wall of the probe body, one end of the light guide tube being installed at the output end of the first laser module, and the other end of the light guide tube being inserted through and connected to one side of the probe body;

[0006] A fixed frame is installed on one side of the probe body, and a second laser module is rotatably connected to the inner wall of the fixed frame, rotating around the output end of the second laser module as the center.

[0007] A support frame is mounted on the surface of the fixed frame, and a emitting mirror is mounted on one side of the support frame;

[0008] An acoustic stack is mounted on the bottom of the probe body.

[0009] Furthermore, a protective box is installed on the top of the fixed frame, a drive mechanism is installed on the inner wall of the protective box, a coupling is installed at the output end of the drive mechanism, and the bottom end of the coupling is installed on the surface of the second laser module.

[0010] Furthermore, the back of the first laser module is electrically connected to a first wire, the back of the second laser module is electrically connected to a second wire, and a controller is installed on the inner wall of the probe body, and the controller is electrically connected to the first wire and the second wire.

[0011] Furthermore, a transmission component is installed on the inner wall of the probe body, and a memory is installed on the inner wall of the probe body. Both the transmission component and the memory are electrically connected to the controller.

[0012] Furthermore, a handle is installed on the top of the probe body, and a third wire is inserted through the inner wall of the handle.

[0013] Furthermore, the controller is further configured to perform the following operations:

[0014] Receive image data from the ultrasound device and the pixel coordinates of the target point P selected by the user on the image. ;

[0015] Based on the spatial mapping relationship pre-stored in memory, pixel coordinates Converted into a spatial target point with the probe as the reference frame. ;

[0016] Based on the spatial target point The coordinates are used to calculate the target angle that the second laser module needs to deflect. The calculation formula is:

[0017]

[0018] in, These are pre-stored system structure parameters, representing the distance from the rotation center of the second laser module to the optical center of the emitting mirror;

[0019] Generate and control commands, and drive the second laser module to deflect to the target angle via a drive mechanism. This makes the intersection of the first and second laser lines on the body surface coincide with the spatial target point. The projection points on the body surface coincide.

[0020] Furthermore, the spatial mapping relationship is achieved through a homogeneous coordinate transformation matrix. The transformation formula is as follows:

[0021]

[0022] in, A 4x4 calibration matrix is ​​obtained through the system calibration process and stored in memory (16), with the symbol... This indicates that the equality reaches a scaling factor.

[0023] Furthermore, the probe body also integrates an inertial measurement unit for measuring the probe's attitude angle;

[0024] The controller is further configured to:

[0025] Obtain the probe pitch angle measured by the inertial measurement unit. and roll angle ;

[0026] Using rotation matrix to target points in space The coordinates of the target point are used for attitude compensation to calculate the corrected target point coordinates. The compensation formula is:

[0027]

[0028] in, and These are the basic rotation matrices about the X-axis and Y-axis, respectively;

[0029] Use the corrected coordinates Substitute into the formula to calculate the target angle .

[0030] Furthermore, the controller is also configured to perform a system calibration procedure:

[0031] The control drive mechanism drives the second laser module to rotate sequentially to M different known angles. And obtain the physical coordinates of the laser point formed by the second laser line on the calibration template in the calibration template coordinate system. ;

[0032] Based on the correspondence of the M points The least squares method is used to solve for the system structural parameters that minimize the following objective function. and calibration matrix :

[0033]

[0034] in, The function is a model-based projection function;

[0035] The optimal parameters obtained by solving are stored in the memory.

[0036] Furthermore, the spatial mapping relationship is established through a machine learning model, the input of which is pixel coordinates. The output is the spatial target point. or target angle The machine learning model is trained using training data and stored in memory.

[0037] Compared with existing technologies, the present invention provides a dual-laser cross-positioning system integrated with an ultrasound probe. Through the integrated arrangement of the probe body, the first laser module and the light guide tube, the laser line representing the ultrasound imaging plane is directly projected onto the patient's body surface, making the invisible ultrasound scanning plane visible. This allows the operating doctor to intuitively and quickly and accurately match the screen image with the anatomical position on the patient's body surface.

[0038] By combining a fixed frame, a rotatable second laser module, a drive mechanism, a coupling, a support frame, and a transmitting mirror, the projection angle of the second laser beam is precisely and controllably adjusted, enabling the second laser line to form a dynamic intersection point with the first laser line on the body surface. This allows the abstract target position in the image to be transformed into a concrete needle insertion point indication on the body surface in real time.

[0039] By coordinating the controller, first wire, second wire, transmission components, and memory, a local intelligent control and data interaction network is constructed, enabling the system to receive external commands, call pre-stored parameters, perform complex coordinate calculations, and drive the mechanism to complete actions. This achieves full-process automation and intelligence from image selection to optical positioning, significantly reducing the difficulty and error of manual operation.

[0040] By configuring the optional inertial measurement unit and related attitude compensation algorithms, the system can sense the tilt angle of the probe in real time and dynamically compensate and correct the calculated positioning coordinates, thereby eliminating the positioning error caused by changes in probe attitude and greatly improving the positioning accuracy and robustness of the system under complex operating postures.

[0041] By setting up system calibration procedures and alternative machine learning models, users are provided with flexible means to calibrate system parameters and establish mapping relationships. This enables the system to adapt to subtle differences between individual probes and handle complex nonlinear mapping problems, thereby ensuring the consistent accuracy of batch products and the potential for continuous optimization of algorithm performance in the future. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0043] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the first laser module structure provided in an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of the drive mechanism structure provided in an embodiment of the present invention;

[0046] Figure 4 The system flowchart provided for embodiments of the present invention.

[0047] Explanation of reference numerals in the attached figures:

[0048] 1. Probe body; 2. First laser module; 3. Light guide tube; 4. Fixing frame; 5. Second laser module; 6. Support frame; 7. Emitting mirror; 8. Acoustic stack; 9. Protective box; 10. Drive mechanism; 11. Coupling; 12. First wire; 13. Second wire; 14. Controller; 15. Transmission component; 16. Memory; 17. Handle; 18. Third wire. Detailed Implementation

[0049] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0050] As attached Figure 1 To be continued Figure 4 As shown:

[0051] Example 1:

[0052] The present invention provides a dual-laser cross-positioning system integrated with an ultrasonic probe, including a probe body 1, a first laser module 2 installed on the inner wall of the probe body 1, a light guide tube 3 installed on the inner wall of the probe body 1, one end of the light guide tube 3 being installed at the output end of the first laser module 2, and the other end of the light guide tube 3 being inserted through and connected to one side of the probe body 1.

[0053] A fixed frame 4 is installed on one side of the probe body 1. The inner wall of the fixed frame 4 is rotatably connected to the second laser module 5, and it rotates around the output end of the second laser module 5.

[0054] A support frame 6 is mounted on the surface of the fixed frame 4, and a launching mirror 7 is mounted on one side of the support frame 6;

[0055] An acoustic stack 8 is installed at the bottom of the probe body 1.

[0056] A protective box 9 is installed on the top of the fixed frame 4. A drive mechanism 10 is installed on the inner wall of the protective box 9. A coupling 11 is installed at the output end of the drive mechanism 10, and the bottom end of the coupling 11 is installed on the surface of the second laser module 5.

[0057] In use, the probe body 1 provides core support and encapsulation for the system. The first laser module 2 is integrated inside the probe and emits a reference laser beam. This laser beam is conducted through the light guide tube 3 and emitted in a directional manner, forming a first laser line representing the ultrasound imaging plane on the patient's body surface. The fixed frame 4 is installed on one side of the probe and provides a rigid mounting base for external optical components. The second laser module 5 is rotatably installed inside the fixed frame 4. The adjustable-angle laser beam emitted by it is reflected downwards by the emitting mirror 7 supported by the support frame 6, forming a second laser line on the body surface. The acoustic stack 8 is located at the bottom of the probe and is responsible for the transmission and reception of ultrasound signals. It is the core functional component of ultrasound imaging. The protective box 9 covers the top of the fixed frame 4 and provides sealed protection for its internal drive mechanism 10 (which can be a stepper motor). The drive mechanism 10 is connected to the second laser module 5 through the coupling 11, which precisely controls its rotation angle so that the first and second laser lines intersect on the body surface. The intersection point indicates the needle insertion point of the preset puncture path in real time, thereby achieving intuitive and accurate ultrasound-guided puncture positioning without significantly changing the existing probe structure.

[0058] Example 2:

[0059] This embodiment is basically the same as the previous embodiment, except that the back of the first laser module 2 is electrically connected to the first wire 12, the back of the second laser module 5 is electrically connected to the second wire 13, the inner wall of the probe body 1 is equipped with a controller 14, and the controller 14 is electrically connected to the first wire 12 and the second wire 13. The inner wall of the probe body 1 is equipped with a transmission component 15 and a memory 16, and both the transmission component 15 and the memory 16 are electrically connected to the controller 14. The top of the probe body 1 is equipped with a handle 17, and the inner wall of the handle 17 is through which a third wire 18 is inserted.

[0060] In use, the first laser module 2 and the second laser module 5 are electrically connected to the controller 14 via the first wire 12 and the second wire 13, respectively, to achieve a stable power supply and accurate transmission of control signals. The controller 14, as the local processing core, coordinates the start-up, shutdown, and modulation of the laser modules and performs preliminary processing of sensor data. The transmission component 15 enables high-speed data exchange between the controller 14 and the external main control system, ensuring real-time bidirectional communication of ultrasound images, laser control commands, and equipment status information. The memory 16 non-volatilely stores the probe's unique identifier, laser module calibration parameters, spatial coordinate transformation matrix, and user-preset protocols, providing the system with plug-and-play precise positioning capabilities. The handle 17 is ergonomically designed, with a third wire 18 running through it to centrally collect and guide all cables, preventing cable tangling during operation and ensuring the reliability of power and signal transmission. Together, they form a highly integrated, responsive, and convenient intelligent control and data transmission network.

[0061] Example 3:

[0062] This embodiment is basically the same as the previous embodiment, except that a positioning control algorithm runs in the controller 14, and its process is as follows:

[0063] Receive selection command: The controller 14 receives a command from the ultrasound host software via the transmission component 15, which contains the pixel coordinates of the target point P selected by the user in the current ultrasound image frame. ;

[0064] Coordinate transformation: Controller 14 reads pre-calibrated spatial coordinate transformation parameters from memory 16 and transforms the two-dimensional pixel coordinates... Converted to the probe reference frame (with the center of acoustic stack 8 as the origin). ) three-dimensional spatial coordinates This point represents the estimated position of the target point in the probe coordinate system.

[0065] Calculating the laser deflection angle: The system goal is to control the rotation of the second laser module 5 so that when the intersection of the second laser surface and the first laser surface (representing the ultrasound imaging plane) is projected onto the body surface, the point of intersection is exactly... The projection points of the points on the skin surface coincide.

[0066] Assuming target point The coordinates in the probe coordinate system are: The rotation center point of the second laser module 5 is... The emitted laser beam is first reflected by the emitting mirror 7. To simplify the model, the reflecting mirror can be considered as a virtual laser source. .parameter That is, the center of rotation To virtual source The distance, which is an inherent parameter determined by the mechanical structure, is determined and stored after calibration.

[0067] Deflection angle to be calculated It is the angle between the laser beam and the probe normal. From the virtual source point Look towards the target point Its horizontal distance is The vertical distance (depth direction) is (because lie in rear (Location). Therefore, deflection angle It can be calculated using the following arctangent function:

[0068]

[0069] Driving the laser module: Controller 14 will calculate the angle value The pulse count or control voltage required to drive the mechanism 10 (such as a stepper motor) is converted to drive the second laser module 5 to precisely deflect to the target angle via the coupling 11.

[0070] Laser cross-point indication: The laser emitted by the second laser module 5 is reflected by the emitting mirror 7 to form a laser line on the body surface. This laser line intersects with the laser line generated by the first laser module 2, which represents the ultrasonic section. The intersection point is the calculated needle entry point, thereby realizing real-time and dynamic positioning of the target point in the image;

[0071] Spatial mapping relationships are achieved through homogeneous coordinate transformation matrices. The transformation formula is as follows:

[0072]

[0073] in, A 4x4 calibration matrix is ​​obtained through the system calibration process and stored in memory 16, with the symbol... This indicates that the equality reaches a scaling factor.

[0074] Get matrix Calibration example:

[0075] Prepare a specially designed calibration phantom containing multiple target points whose positions are precisely known in three-dimensional space.

[0076] The phantom was scanned with an ultrasound probe to obtain ultrasound images containing all target points.

[0077] Manually or automatically click on the identified target points in the image and record their pixel coordinates. .

[0078] The coordinates of these target points in actual space are known. (Relative to the probe coordinate system).

[0079] Using multiple sets of corresponding points The optimal transformation matrix can be obtained using algorithms such as Direct Linear Transformation (DLT) or Perspective-n-Point (PnP). .

[0080] The matrix obtained by solving Stored in memory 16 for subsequent coordinate transformation.

[0081] The probe body 1 also integrates an inertial measurement unit for measuring the probe's attitude angle;

[0082] Controller 14 is further configured as follows:

[0083] Obtain the probe pitch angle measured by the inertial measurement unit. and roll angle ;

[0084] Using rotation matrix to target points in space The coordinates of the target point are used for attitude compensation to calculate the corrected target point coordinates. The compensation formula is:

[0085]

[0086] in, and These are the basic rotation matrices about the X-axis and Y-axis, respectively;

[0087] Use the corrected coordinates Substitute into the formula to calculate the target angle .

[0088] Controller 14 is also configured to perform system calibration procedures:

[0089] The control drive mechanism 10 drives the second laser module 5 to rotate sequentially to M different known angles. And obtain the physical coordinates of the laser point formed by the second laser line on the calibration template in the calibration template coordinate system. ;

[0090] Based on the correspondence of the M points The least squares method is used to solve for the system structural parameters that minimize the following objective function. and calibration matrix :

[0091]

[0092] in, The function is a model-based projection function;

[0093] The optimal parameters obtained from the solution are stored in memory 16.

[0094] Spatial mapping relationships are established through a machine learning model, whose input is pixel coordinates. The output is the spatial target point. or target angle The machine learning model is trained using training data and stored in memory 16.

[0095] The model construction and application process is as follows:

[0096] Data collection: A large number of ultrasound images were acquired under multiple known poses. For each image, the pixel coordinates of multiple feature points were manually labeled. and their corresponding real space coordinates or laser angle .

[0097] Model training: A deep neural network (such as a multilayer perceptron, MLP) is used as the model. The collected data is divided into training and test sets. The network is trained using the training set data, and the network weights are optimized through backpropagation to minimize the loss function (such as mean squared error, MSE) between the model's predicted output and the true value.

[0098] Model Deployment: After training, the final model parameters (network weights and structure) are stored in memory 16. During real-time operation, controller 14 will acquire the pixel coordinates. By inputting this model, it can perform forward propagation to calculate the required spatial coordinates or angles, thus achieving fast, end-to-end localization. This method has the potential to better handle image distortion and nonlinear mapping problems.

[0099] Application example:

[0100] This system has broad application prospects in clinical ultrasound-guided interventional surgery, especially in scenarios requiring high-precision real-time positioning, such as deep tissue biopsy, tumor ablation needle localization, nerve block anesthesia, and effusion drainage. Traditional ultrasound guidance relies on the surgeon's spatial imagination and hand-eye coordination, which carries risks such as puncture path deviation and multiple adjustments. This system combines ultrasound image plane with laser projection positioning, projecting the planned virtual puncture path from the image onto the patient's body surface in real time, intuitively displaying the needle insertion point and angle. This significantly reduces the difficulty of operation and improves puncture accuracy and efficiency, making it particularly suitable for clinical procedures with complex anatomical structures, small target areas, or extremely high precision requirements.

[0101] Before the procedure, the doctor connects the system probe body 1 to the ultrasound host via the transmission component 15, and holds the handle 17 to attach the acoustic stack 8 to the surface of the patient's area to be scanned. The tissue image generated in real time by the ultrasound host is displayed on the screen, and the doctor selects the target puncture point or area in the image. The controller 14 receives the pixel coordinates of the target point via the transmission component 15, and retrieves the pre-stored spatial mapping parameters from the memory 16 to convert the pixel coordinates into a three-dimensional spatial position in the probe coordinate system. If the system integrates an inertial measurement unit, the controller 14 will synchronously acquire real-time attitude angle data and perform rotation matrix compensation on the target point coordinates to ensure that the positioning result is not affected by probe tilt.

[0102] After the calculation is completed, the controller 14 controls the operation of the first laser module 2 and the second laser module 5 through the first wire 12 and the second wire 13. The laser emitted by the first laser module 2 is led out through the light guide tube 3, forming a first laser line on the body surface representing the current ultrasound imaging plane. At the same time, the controller 14 drives the second laser module 5 to deflect precisely according to the calculated target angle through the drive mechanism 10 and the coupling 11. The laser emitted by the second laser module 5 is reflected by the emitting mirror 7 fixed by the support frame 6, forming a second laser line on the body surface. The two laser lines intersect at a point, which is the needle insertion point on the body surface corresponding to the target point in the image.

[0103] After the doctor observes a clear laser intersection point on the body surface, they can insert the needle vertically along that point. During the puncture, the doctor can keep the probe stable or make slight adjustments. The system updates the image in real time and recalculates the laser projection position, dynamically tracking and displaying the optimal needle insertion path. The entire operation is intuitive and visual, avoiding the inconvenience of repeatedly comparing images with the body surface position in traditional methods, significantly shortening the operation time and reducing patient pain and the risk of complications. After the operation, the system can upload the operation log and image data to the workstation via the transmission component 15 for recording and review. The protective box 9 ensures the sealing and safety of precision components such as the drive mechanism 10 in the surgical environment. The entire system is integrated into the probe, eliminating the need for additional large positioning equipment, and the operation process is seamlessly integrated with routine ultrasound examinations.

[0104] Working Principle: The probe body 1 provides the mechanical support and packaging foundation for the entire system. The integrated first laser module 2 emits a reference laser beam, which is conducted and directionally emitted through a precisely installed light guide tube 3, forming a clear and stable first laser line on the patient's surface. This line precisely represents the current planar position of the ultrasound imaging. A fixed frame 4, fixedly mounted on one side of the probe body 1, provides a rigid mounting platform for the second optical system. The second laser module 5, connected internally by a rotating shaft, can deflect under the precise control of the drive mechanism 10. The output torque of the drive mechanism 10 is transmitted to the second laser module 5 through a coupling 11, allowing it to rotate around its output end. The laser beam emitted by the second laser module 5 first irradiates the surface of the emitting mirror 7, which is fixedly supported by the support frame 6. After reflection by the emitting mirror 7, it is projected downwards onto the body surface, forming the second laser line. The acoustic stack 8, located at the bottom of the probe body 1, serves as the core functional component for ultrasound imaging, responsible for emitting and receiving ultrasound signals and generating tissue images. Throughout the process, the controller 14 acts as... The system's control center receives electrical energy and sends control commands via the first wire 12 and the second wire 13, coordinating the start-up, shutdown, and working status of the first laser module 2 and the second laser module 5. Simultaneously, it interacts with the external ultrasound host in real time via the transmission component 15, receiving target point information selected by the user on the image. The controller 14 calls the calibration parameters and spatial mapping algorithm pre-stored in the memory 16 to calculate the precise deflection angle required to drive the second laser module 5, and controls the drive mechanism 10 to perform the corresponding action. Finally, the first laser line and the second laser line intersect on the body surface, and their intersection point dynamically indicates the optimal needle insertion position of the target point on the body surface in the ultrasound image. The protective box 9 at the top of the fixed frame 4 provides necessary sealing protection for the internal drive mechanism 10, while the ergonomic handle 17 and the third wire 18 running through it ensure operational comfort and neat cable management. Together, they provide doctors with an intuitive, precise, and integrated optical positioning guidance solution without significantly altering the traditional ultrasound scanning process.

[0105] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A dual-laser-plane cross-location system integrated with an ultrasound probe, comprising a probe body (1), characterized in that, The inner wall of the probe body (1) is provided with a first laser module (2), the inner wall of the probe body (1) is provided with a light guide pipe (3), one end of the light guide pipe (3) is connected to the output end of the first laser module (2), and the other end of the light guide pipe (3) penetrates into the probe body (1) on one side; One side of the probe body (1) is provided with a fixed frame (4), the inner wall of the fixed frame (4) is rotatably connected with a second laser module (5), and the output end of the second laser module (5) is used as the center of rotation; The surface of the fixed frame (4) is provided with a support frame (6), one side of the support frame (6) is provided with a transmitting mirror (7); The bottom of the probe body (1) is provided with an acoustic stack (8).

2. The dual-laser-plane cross-location system integrated with an ultrasound probe according to claim 1, wherein, The top of the fixed frame (4) is provided with a protective box (9), the inner wall of the protective box (9) is provided with a driving mechanism (10), the output end of the driving mechanism (10) is provided with a shaft coupling (11), and the bottom end of the shaft coupling (11) is connected to the surface of the second laser module (5).

3. The dual-laser-plane intersection positioning system integrated with an ultrasound probe of claim 1, wherein, The back of the first laser module (2) is electrically connected with a first wire (12), the back of the second laser module (5) is electrically connected with a second wire (13), the inner wall of the probe body (1) is provided with a controller (14), and the controller (14) is electrically connected with the first wire (12) and the second wire (13).

4. The dual-laser-plane intersection positioning system integrated with an ultrasound probe of claim 3, wherein, The inner wall of the probe body (1) is provided with a transmission assembly (15), the inner wall of the probe body (1) is provided with a memory (16), and the transmission assembly (15) and the memory (16) are electrically connected with the controller (14).

5. The dual-laser-plane cross-location system integrated with an ultrasound probe of claim 1, wherein, The top of the probe body (1) is provided with a handle (17), the inner wall of the handle (17) is provided with a third wire (18).

6. The dual-laser-plane intersection positioning system integrated with an ultrasound probe of claim 4, wherein, The controller (14) is further configured to perform the following operations: receiving image data from an ultrasound device and pixel coordinates of a target point P selected by a user on the image ; Based on a spatial mapping relationship pre-stored in the memory (16), the pixel coordinates are converted into spatial target points with the probe as the reference system ; According to the coordinates of the space target point , the target angle of deflection required by the second laser module (5) is calculated , and the calculation formula is: wherein is a pre-stored system configuration parameter representing the distance from the rotation center of the second laser module (5) to the optical center of the transmitting mirror (7); Generate and control commands and drive the second laser module (5) to deflect to the target angle via the drive mechanism (10). This ensures that the intersection of the first and second laser lines on the body surface coincides with the target point in space. The projection points on the body surface coincide.

7. The dual-laser-plane intersection positioning system integrated with an ultrasound probe of claim 6, wherein, The spatial mapping relationship is through a homogeneous coordinate transformation matrix The transformation formula is as follows: wherein is a 4x4 calibration matrix, obtained by a system calibration procedure and stored in a memory (16), the symbol denotes equality up to a scale factor.

8. The dual-laser-plane intersection positioning system integrated with an ultrasound probe of claim 6, wherein, The probe body (1) is further integrated with an inertial measurement unit for measuring the attitude angle of the probe; The controller (14) is further configured to: acquiring a probe pitch angle measured by an inertial measurement unit and a roll angle ; Adopting rotation matrix to compensate the coordinates of space target point , the corrected target point coordinates are calculated, and the compensation formula is: wherein and R and R are the basic rotation matrices around the X and Y axes, respectively; Using the corrected coordinates The target angle is calculated by substituting the formula in claim 6 .

9. The dual-laser-plane intersection positioning system integrated with an ultrasound probe of claim 6, wherein, The controller (14) is further configured to perform system calibration procedures: The control driving mechanism (10) drives the second laser module (5) to rotate to M different known angles in sequence , and obtains the physical coordinates of the laser points formed by the second laser line on the calibration template in the calibration template coordinate system ​ based on the correspondence of the m points , a least squares method is used to solve the system structure parameters that minimize the following objective function and the calibration matrix : wherein the function is a projection function based on the model in claims 6 and 7; The optimal parameters obtained by solving are stored in the memory (16).

10. The dual-laser-plane cross-location system integrated with an ultrasound probe of claim 6, wherein, The spatial mapping relationship is established by a machine learning model, an input of the model being pixel coordinates , and an output being a spatial target point or a target angle ; the machine learning model is trained by training data and stored in a memory (16).

Images