Auxiliary puncture method and system based on ultrasonic image blood vessel score feedback

Abstract

The invention discloses an auxiliary puncture method and system based on ultrasonic image blood vessel score feedback, and relates to the technical field of medical images. According to the blood vessel recognition method, blood vessel signal features of the human body are analyzed according to ultrasonic image imaging of the target human body, intelligent recognition and blood vessel segmentation are carried out on the blood vessel signals, on the basis that the blood vessel segmentation area is obtained, scoring and feedback of whether the blood vessel is suitable for puncture are carried out, the defects in the prior art are overcome, and the blood vessel recognition efficiency is improved. According to the method, blood vessel extraction and evaluation on whether the current position is suitable for puncture are achieved, especially for blood vessel extraction and puncture fitness score feedback, the position of an ultrasonic probe is adjusted to find the optimal puncture position, and the accuracy and success rate of auxiliary puncture are greatly improved; automatic and intelligent image recognition and scoring of the blood vessel subjected to ultrasonic-assisted puncture are achieved, and the method becomes a judgment basis for optimizing and optimizing the position of the ultrasonic probe subjected to ultrasonic image puncture assistance.

Description

Technical Field

[0001] This invention relates to the field of medical imaging technology, specifically to an assisted puncture imaging positioning method and system based on ultrasound image vascular segmentation and vascular scoring feedback, which uses ultrasound images to assist and guide precise puncture. Background Technology

[0002] Ultrasound-guided vascular puncture is a medical technique that uses ultrasound imaging to guide puncture procedures. This technique is particularly suitable for venous or arterial punctures, improving accuracy and reducing the risk of complications. The following are the basic principles and procedures of ultrasound-guided vascular puncture:

[0003] Basic principles

[0004] 1. Real-time imaging: Ultrasound equipment provides real-time images of blood vessels, helping doctors accurately identify the location, direction, and depth of blood vessels.

[0005] 2. High resolution: Modern ultrasound equipment can provide high-resolution images, making even tiny blood vessel structures clearly visible.

[0006] 3. Dynamic observation: Doctors can observe the position of the needle relative to the blood vessel in real time to ensure the accuracy of the puncture.

[0007] The problems with existing technical methods are:

[0008] 1. Without imaging equipment, blood vessels may be difficult to see with the naked eye, or the clarity may be insufficient, affecting the success rate of puncture. The blood vessels may be unclear, making it difficult to puncture accurately.

[0009] 2. Images obtained from the ultrasound probe position can visualize blood vessels. However, it does not automatically determine whether the current position of the ultrasound probe is the most suitable puncture site.

[0010] 3. There is no standardized, systematic, and accurate method for judging the quality, integrity, and accuracy of vascular ultrasound imaging.

[0011] 4. If the position of the ultrasound probe is not the optimal puncture position, there is no adjustment strategy or automated method to guide and optimize the position of the ultrasound probe to the optimal puncture position. Summary of the Invention

[0012] To address the aforementioned problems, the present invention aims to provide an auxiliary puncture imaging localization method and system based on ultrasound image vascular segmentation and vascular scoring feedback.

[0013] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: In the first aspect, the present invention provides an infrared binocular structured light and ultrasound vascular imaging system, which is an infrared binocular structured light and ultrasound imaging system suitable for vascular imaging and puncture based on vascular characteristics.

[0014] In a second aspect, the present invention provides a vascular puncture system based on ultrasound-assisted angiography.

[0015] In a third aspect, the present invention provides a method for ultrasound image vascular scoring and vascular scoring feedback to guide ultrasound probe position adjustment and better vascular imaging.

[0016] Step 1: Determine the three-dimensional image of the blood vessel and the coordinates of the blood vessel segment along the optimal puncture point puncture path using infrared binocular structured light imaging.

[0017] Step 2: Using a 6-axis robotic arm, the ultrasound probe is aligned with the coordinates of the punctured blood vessel segment in Step 1, so that the posture of the ultrasound probe matches the posture of the infrared three-dimensional blood vessel segment.

[0018] Step 3: Observe the ultrasound image, including the imaging morphology and clarity of the blood vessels.

[0019] Step 4: The vascular region is segmented using a static vascular segmentation algorithm and a Doppler flow imaging dynamic segmentation algorithm.

[0020] Step 5: Score the vascular area. The scoring parameters include the penetration, depth, average radius, blood flow magnitude, horizontality, and clarity of the blood vessels.

[0021] Step 6: If the score at the current location meets the puncture requirements, then perform the puncture procedure.

[0022] Step 7: If the score at the current position does not meet the puncture requirements, adjust the pose and move the camera near the current position to score the images under different poses until a pose that meets the puncture requirements is found, and then complete the puncture.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] 1. By using infrared 3D reconstruction and 3D positioning of blood vessels, the 3D pose of blood vessels can be preliminarily determined.

[0025] 2. A 6-axis robotic arm can guide the ultrasound probe to achieve the three-dimensional pose of blood vessels for vascular imaging.

[0026] 3. Ultrasound imaging can reveal the precise location of blood vessels, including the position of the upper and lower walls, thickness, and horizontal direction of the vessels.

[0027] 4. The scoring algorithm can determine whether the current location is suitable for puncture. If the score is high, the success rate of puncture is high.

[0028] 5. If the score is low, the ultrasound probe can be adjusted within a small range to optimize its position and reach a position with a higher score.

[0029] 6. Through a series of algorithms such as infrared 3D imaging, ultrasound vascular imaging, and ultrasound vascular position scoring, the entire puncture process can be "clearly seen and accurately inserted".

[0030] 7. The segmentation and scoring of blood vessels are processed by a fully automated algorithm throughout the entire process.

[0031] 8. The entire process method has high efficiency, with a single frame processing time of <40ms, enabling real-time extraction, scoring, and feedback. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the implementation steps of the method of the present invention.

[0034] Figure 2 This is a visual diagram illustrating the fifth step of the method of the present invention: vascular scoring. Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Please see Figure 1 As shown, the present invention provides an infrared imaging and blood vessel identification and extraction method, comprising:

[0037] Step 1: Determine the three-dimensional image of the blood vessel and the coordinates of the blood vessel segment along the optimal puncture point puncture path using infrared binocular structured light imaging.

[0038] 1. Infrared binocular structured light imaging

[0039] Data Acquisition: The target area is scanned using an infrared binocular camera and a structured light emitter. Structured light is projected onto the skin to form light and dark stripes, which are captured by the infrared camera from different angles.

[0040] 3D Reconstruction: Using the deformation information of stripes and the parallax information of binocular cameras, the 3D coordinates of the skin surface are calculated to reconstruct the 3D surface model of blood vessels.

[0041]

[0042] 2. Three-dimensional image processing of blood vessels

[0043] Image preprocessing: Performing preprocessing operations such as filtering and enhancement on the acquired images to improve image quality.

[0044] Blood vessel recognition: Applying image processing algorithms (such as edge detection and morphological manipulation) to identify blood vessel structures.

[0045] 3D information extraction: Extracting the spatial location and orientation information of blood vessels from a 3D model.

[0046] 3. Determining the optimal puncture point and path

[0047] Puncture point selection: The optimal puncture point is determined based on the depth and direction of the blood vessel and the condition of the surrounding tissue. Typically, a location with a relatively large blood vessel diameter, a relatively straight path, and avoiding critical structures is chosen.

[0048] Path planning: Calculate the shortest path from the skin surface to the optimal puncture point. Considering the limitations of needle angle and depth, path planning needs to be as simple and direct as possible.

[0049] 4. Coordinate generation and transfer

[0050] Coordinate calculation: Convert the optimal puncture point and path into three-dimensional coordinates relative to the imaging system coordinate system.

[0051] Data transmission: These coordinates are transmitted to the puncture navigation system or the doctor for the actual puncture procedure.

[0052] Step 2: Using a 6-axis robotic arm, the ultrasound probe is aligned with the coordinates of the puncture vessel segment from Step 1, ensuring that the ultrasound probe's orientation matches the orientation of the infrared 3D vessel segment.

[0053] 1. Integration of robotic arm and imaging system

[0054] System calibration: Ensure that the coordinate system of the robotic arm is fully calibrated with the coordinate system of the imaging system to ensure the consistency and accuracy of the coordinates.

[0055] Sensor integration: Integrate the ultrasonic probe with the robotic arm and ensure that the probe can accurately reflect the position and orientation of the robotic arm.

[0056] 2. Coordinate and attitude transfer

[0057] Receiving coordinate information: The robotic arm receives the coordinates of the punctured blood vessel segment obtained from the infrared 3D imaging system.

[0058] Path planning: The software calculates the optimal path from the current location to the target location, taking into account the avoidance of collisions and unnecessary movements.

[0059] 3. Precise positioning and attitude adjustment

[0060] Probe positioning: The robotic arm precisely moves the ultrasound probe to the calculated coordinates of the blood vessel segment.

[0061] Posture adjustment: Adjust the angle and direction of the ultrasound probe according to the posture of the infrared three-dimensional blood vessel segment to ensure that it matches the posture of the blood vessel segment.

[0062] 4. Real-time image acquisition and feedback

[0063] Acquiring ultrasound images: After the ultrasound probe reaches the target position, real-time ultrasound images are acquired to confirm the location and condition of the blood vessels.

[0064] Adjustment feedback: If the image shows that the probe position or posture needs fine-tuning, the system will adjust the robotic arm based on the feedback.

[0065] Step 3: Observe the ultrasound images, noting the morphology and clarity of the blood vessels.

[0066] Step 4: Segment the vascular region using a static vessel segmentation algorithm and a Doppler flow imaging dynamic segmentation algorithm.

[0067] 1. Static blood vessel segmentation algorithm

[0068] Image preprocessing: Use filters to remove noise and enhance the contrast of the blood vessel area.

[0069] Edge detection: Apply edge detection algorithms (such as Canny and Sobel operators) to extract the edges of blood vessels.

[0070] Morphological manipulation: Using morphological manipulation (such as expansion and corrosion) to improve the continuity of blood vessels and remove small non-vascular structures.

[0071] Segmentation algorithms: Threshold-based methods, region growing, snake models, or graph cut algorithms are used to segment vascular structures.

[0072]

[0073] 2. Dynamic segmentation algorithm for Doppler blood flow imaging

[0074] Doppler signal acquisition: Information on blood flow velocity and direction is obtained using ultrasound Doppler technology.

[0075] Signal processing: Process the Doppler signal to extract blood flow characteristics.

[0076] Dynamic segmentation: Based on blood flow characteristics, dynamic segmentation is performed to identify regions of blood flow within blood vessels.

[0077] 3. Integration and optimization of vascular regions

[0078] Combining static and dynamic information: Combining statically segmented vascular structures with dynamically segmented blood flow information to improve segmentation accuracy.

[0079] Optimization processing: The combined vascular image is optimized, such as using morphological operations to refine the vascular edges, or using post-processing algorithms to remove mis-segmented regions.

[0080] Step 5: Score the vascular area. The scoring parameters include the penetration, depth, average radius, blood flow magnitude, horizontality, and clarity of the blood vessels.

[0081]

[0082] 1. Permeability of blood vessels

[0083] Definition: Blood vessel penetration reflects the continuity and integrity of blood vessels in an image.

[0084] Scoring method: Penetration can be assessed by calculating the ratio of the length of the continuous region of the blood vessel to the length of the broken region.

[0085] 2. Vascular depth

[0086] Definition: Vascular depth is the distance between a blood vessel and the surface of the skin.

[0087] Scoring method: The depth of the blood vessel is determined using 3D imaging technology, and an ideal range of depth is determined based on operational requirements. Depths exceeding or falling below the ideal range will affect the score.

[0088] 3. Average radius

[0089] Definition: The average radius of a blood vessel reflects its size.

[0090] Scoring method: Measure the diameter of the blood vessel cross-section and calculate the average radius. Based on specific medical needs, set an ideal range for the radius and score accordingly.

[0091] 4. Blood flow size

[0092] Definition: Blood flow magnitude usually refers to the speed and volume of blood flow.

[0093] Scoring method: Blood flow velocity is measured using Doppler ultrasound technology to assess the size of blood flow, and an ideal range of blood flow size is set according to specific needs for scoring.

[0094] 5. Level of expertise

[0095] Definition: The horizontal degree of blood vessels refers to whether the direction of blood vessels is parallel to the skin surface.

[0096] Scoring method: Analyze the angle of the blood vessel's direction; the closer it is to the horizontal line, the higher the score.

[0097] 6. Clarity

[0098] Definition: The clarity of blood vessels reflects their visibility and recognizability in an image.

[0099] Scoring method: It can be evaluated by analyzing the clarity and contrast of the blood vessel edges and the degree of interference from surrounding tissues.

[0100] Step Six: If the score at the current location meets the puncture requirements, then perform the puncture procedure.

[0101] Step 7: If the score at the current position does not meet the puncture requirements, adjust the pose and move the camera near the current position, scoring the images under different poses until a pose with a score that meets the puncture requirements is found, and then complete the puncture.

[0102] 1. Pose Adjustment Strategy

[0103] Determine the adjustment range: Based on the current score and puncture requirements, determine the range and steps of the pose adjustment. This includes translation, tilting, and rotation of the probe.

[0104] Priority strategy: It may be necessary to set the priority of adjustments, such as adjusting the depth first and then the angle.

[0105] 2. Iterative pose adjustment and re-scoring

[0106] Position adjustment: Adjust the position of the ultrasound probe according to the strategy.

[0107] Reacquiring images: Reacquiring ultrasound images of blood vessels in a new pose.

[0108] Re-scoring: Scoring the new image again, including all relevant scoring parameters.

[0109] Condition fulfillment check: Check whether the new score meets the puncture requirements. If it does, continue with the puncture; if not, continue adjusting the position.

[0110] 3. Meet the puncture requirements

[0111] Once a position that satisfies the puncture requirements is found, the probe position is locked.

[0112] Confirm the location and path of the blood vessel, and notify the puncture facility to perform the puncture.

[0113] 4. Puncture execution

[0114] Under the optimal position and posture determined by the ultrasound guidance and scoring system, the puncture mechanism performs the puncture procedure.

[0115] The puncture process is monitored in real time to ensure safety and accuracy.

[0116] 5. Post-puncture assessment

[0117] After the puncture is completed, the condition of the blood vessel is reassessed to ensure the success of the puncture and the integrity of the blood vessel.

[0118] Record the puncture procedure and results for future analysis and improvement.

Claims

1. A method for segmentation and scoring feedback of blood vessels in ultrasound images, characterized in that, include: Step 1: Determine the three-dimensional image of the blood vessel and the coordinates of the blood vessel segment along the optimal puncture point and puncture path using infrared binocular structured light imaging. ； Step 2: Using a 6-axis robotic arm, the ultrasound probe is positioned to match the coordinates of the punctured blood vessel segment in Step 1, ensuring that the orientation of the ultrasound probe matches the orientation of the multidimensional blood vessel orientation segment in the infrared imaging. Step 3: Observe the ultrasound images, noting the morphology and clarity of the blood vessels. Step 4: Segment the vascular region using a static vessel segmentation algorithm and a Doppler flow imaging dynamic segmentation algorithm. ； Step 5: Score the vascular region. The scoring parameters include vascular penetration, depth, average radius, blood flow magnitude, horizontality, and clarity. ； Step 6: If the score at the current location meets the puncture requirements, then perform the puncture procedure; Step 7: If the score at the current position does not meet the puncture requirements, adjust the pose and move the camera near the current position, scoring the images under different poses until a pose with a score that meets the puncture requirements is found, and then complete the puncture. 。 2. The infrared vascular imaging method as described in claim 1, characterized in that, The binocular infrared structured light vascular imaging, which locates the three-dimensional position of the blood vessel surface, will be used to guide the ultrasound probe to fit the blood vessel surface.

3. The multi-axis robotic arm clamping device system as described in claim 1, characterized in that, The multi-axis robotic arm clamping device system precisely fits the ultrasound probe onto the skin and blood vessel surface, with the fitting coordinates derived from the infrared three-dimensional image in step 1. Its key feature is that the multi-axis robotic arm can clamp and guide the ultrasound probe to the blood vessel position within its measurement range and effectively adjust its posture to achieve a tight and effective fit.

4. The ultrasound image vascular imaging and segmentation method as described in claim 1, characterized in that, The blood vessel regions in the images were extracted by static image blood vessel segmentation and dynamic Doppler blood flow imaging and blood vessel segmentation. Its features include intelligent and automated extraction of the location and region of blood vessels from ultrasound images.

5. The vascular imaging quality assessment method as described in claim 1, characterized in that, The system assesses the quality of vascular imaging at the current location based on vascular characteristics such as penetration, depth, average radius, blood flow magnitude, horizontality, and clarity. Its key feature is that it can evaluate and provide feedback on the accuracy of effective ultrasound alignment and positioning of the vascular vessel at the current location, as well as determine whether the current location is suitable for vascular puncture.

6. The method for finding and puncturing the optimal location of a blood vessel as described in claim 1, characterized in that, The procedure for puncture is determined based on a vascular score. If the score meets the requirements, the puncture is performed; if the score does not meet the requirements, the position of the ultrasound probe is adjusted to display ultrasound images and scores from different positions, thus finding the optimal score, which is also the optimal puncture position. Its key feature is that it optimizes the puncture position and completes the puncture based on the score and feedback.

7. The puncture system as described in claim 1, characterized in that, An automated puncture system based on ultrasound image information feedback and position adjustment.

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