ICU clinical visual deep blood vessel puncture guiding system and method

Abstract

The invention discloses an ICU clinical visualization deep blood vessel puncture guiding system and method, and the system comprises a three-dimensional ultrasonic imaging module which generates a transparent three-dimensional tissue model in real time; the intelligent path planning module is integrated with a processor based on a multi-objective optimization algorithm and is used for operating a multi-objective planning algorithm based on real-time information dynamic optimization so as to generate and dynamically optimize a safe puncture path and materialize the safe puncture path into a virtual guide catheter; the high-precision optical positioning and tracking module is used for capturing an optical marking ball fixed on a puncture needle in real time to form a virtual needling instrument model; and the image fusion and real-time display module is used for carrying out superposition fusion on the transparent three-dimensional tissue model, the materialized virtual guide line and the virtual needling instrument model driven in real time based on the six-degree-of-freedom attitude data under a unified coordinate system, and forming an integrated and interactive navigation interface on a display unit. According to the invention, normal form transformation from static path display to dynamic active collaborative navigation is realized.

Description

Technical Field

[0001] This invention relates to a clinical visualization deep vascular puncture guidance system and method for ICU patients, belonging to the field of medical device technology. Background Technology

[0002] In the intensive care unit, deep vascular puncture is a core procedure for establishing critical life-saving access. The two-dimensional ultrasound-guided technique, which is widely used in clinical practice, has inherent drawbacks: the operator needs to mentally convert from two-dimensional to three-dimensional space, resulting in a high cognitive load; more importantly, the puncture needle tip is very easy to slip out of the narrow ultrasound plane, leading to interruption of the procedure, repeated punctures, and increased risk of complications such as hematoma and pneumothorax. In critical situations, it often requires the assistance of an assistant, resulting in low efficiency.

[0003] In recent years, although some studies have attempted to introduce 3D imaging, path planning, or surgical navigation technologies into puncture guidance—for example, CN119014953A discloses vascular structure extraction and puncture path planning based on 3D ultrasound images, and CN110090069A discloses virtual-real fusion and path projection technology—these solutions mostly present a simple superposition or sequential execution of functions such as "imaging," "planning," and "display," essentially still falling into the category of "passive guidance" or "static guidance." Their limitations lie in:

[0004] Planning and execution are disconnected: the pre-planned path is static and cannot be dynamically adjusted or provide real-time correction guidance based on the actual real-time posture of the puncture needle.

[0005] The system lacks real-time and accurate perception of the operator's actions, as well as proactive and intelligent feedback based on this perception (such as accurate warnings for deviations from the safe path).

[0006] The system lacks synergy: each module works independently and fails to form a closed loop of perception, decision-making, execution, and feedback, making it impossible to achieve deep collaboration between the operator, the patient's anatomical structure, and the navigation system.

[0007] Therefore, there is an urgent need in this field for a system that can break through the passive guidance mode and achieve active collaborative navigation. This system can not only provide three-dimensional visualization, but also perceive the operation intention and execution status in real time, dynamically optimize the guidance strategy, and actively assist the operator to complete the puncture accurately and safely through intuitive closed-loop feedback, thereby fundamentally solving clinical problems such as needle tip loss, heavy spatial cognitive burden, and high risk of complications. Summary of the Invention

[0008] The technical problem this invention aims to solve is: how to address the issues of disconnect between planning and execution, separation of perception and feedback, and weak system synergy in existing puncture-guided techniques.

[0009] To solve the above-mentioned technical problems, the technical solution of the present invention is to provide an ICU clinical visualization deep vascular puncture guidance system, characterized in that it includes... The three-dimensional ultrasound imaging module uses a three-dimensional matrix array probe to scan the target area and generate a transparent three-dimensional tissue model in real time. The intelligent path planning module communicates with the three-dimensional ultrasound imaging module, automatically acquires three-dimensional tissue models, and integrates a processor based on a multi-objective optimization algorithm to run a multi-objective planning algorithm based on real-time information dynamic optimization, so as to generate and dynamically optimize a safe puncture path and materialize it into a virtual guide tube. The high-precision optical positioning and tracking module uses a near-infrared optical camera array arranged above the operating space. It captures at least three non-collinear optical marker spheres fixed on the puncture needle in real time to form a virtual needle model and calculates the six-degree-of-freedom attitude data of the puncture needle tip in three-dimensional space, including three-dimensional coordinates and needle insertion angle. The image fusion and real-time display module communicates with the three-dimensional ultrasound imaging module, the intelligent path planning module, and the high-precision optical positioning and tracking module. It is used to superimpose and fuse the transparent three-dimensional tissue model, the solidified virtual guide line, and the virtual needle model driven by six degrees of freedom attitude data in real time in a unified coordinate system, and form an integrated, interactive navigation interface on a display unit. In this process, the movement of the virtual needle model is synchronized with the movement of the physical puncture needle.

[0010] Preferably, the three-dimensional ultrasound imaging module uses a three-dimensional matrix array probe to scan the target area and generates and renders a transparent three-dimensional tissue model containing the target blood vessels, surrounding arteries and nerve structures in real time through a parallel computing reconstruction algorithm.

[0011] Preferably, the intelligent path planning module is configured to receive real-time six-degree-of-freedom attitude data from the high-precision optical positioning and tracking module as a dynamic input parameter for its multi-objective planning algorithm, used to predict the needle insertion trend and dynamically fine-tune the virtual guide tube.

[0012] Preferably, the multi-objective programming algorithm optimizes the objective function to simultaneously minimize the puncture path length, maximize the distance between the path and the dangerous tissue, and constrain the needle insertion angle within a preset safety range.

[0013] Preferably, the multi-objective planning algorithm uses the depth and diameter of the target blood vessel, the shortest Euclidean distance between it and the dangerous tissue, and the safe angle range as input parameters to automatically calculate and uniquely recommend a safe puncture path from the optimal skin puncture point to the center of the target blood vessel. This path is then materialized as a virtual guide line that is continuously displayed in three-dimensional space.

[0014] Preferably, the objective function of the multi-objective programming algorithm based on real-time information dynamic optimization is: = · + · + · ; Where F is the objective function value; L is the planned path length; Dmin is the minimum Euclidean distance between the path and all hazardous organizational elements; θ is the needle angle of the current planned path; θsafe is the preset center value of the safe angle range; α, β, and γ are adjustable weight coefficients.

[0015] Preferably, the virtual guide line is presented in the form of a translucent tubular body with a bright color, and the surface of the tubular body may have scale markings indicating depth.

[0016] Preferably, the image fusion and real-time display module is further configured with a deviation alarm submodule; the deviation alarm submodule monitors the angular and positional deviations between the real-time tracked puncture needle trajectory and the planned virtual guide line; when any deviation exceeds a preset safety threshold, the deviation alarm submodule immediately generates an alarm signal.

[0017] Preferably, it also includes a user interaction and fine-tuning module, which allows the operator to rotate, scale, and adjust the transparency of the three-dimensional tissue model on the display unit via touch or an external mouse, and to manually fine-tune the skin entry point of the virtual guide line by dragging.

[0018] A method for guiding deep vascular puncture in ICU clinical visualization, using an ICU clinical visualization deep vascular puncture guidance system, characterized by comprising the following steps: S1: Perform boot system initialization and automatic spatial coordinate system registration; S2: The target area is scanned by three-dimensional ultrasound. The three-dimensional ultrasound imaging module receives the scan data and reconstructs and displays a transparent three-dimensional tissue model of the target area in real time. S3: Based on the three-dimensional tissue model and the target blood vessel information input by the operator, a multi-objective programming algorithm based on real-time information dynamic optimization is run to generate an initial virtual guide tube; at the same time, the six-degree-of-freedom posture of the puncture needle is tracked in real time. S4: Perform proactive cooperative navigation: S41: Real-time fusion display of 3D tissue models, virtual guide tubes, and virtual needle models driven by real-time six-degree-of-freedom attitude; S42: A multi-objective planning algorithm based on real-time information dynamic optimization continuously receives real-time six-degree-of-freedom attitude data and dynamically optimizes the virtual guide tube accordingly; S43: Calculate the spatial deviation between the virtual needle model and the virtual guide tube in real time, and provide visual and audible alarms based on the deviation level; S5: When the tip of the virtual needle model coincides with the intravascular target point of the virtual guide tube and the posture is stable, the puncture is confirmed to be successful.

[0019] This invention achieves a paradigm shift from static path display to dynamic proactive collaborative navigation by constructing a deep collaborative framework that integrates real-time 3D perception, dynamic intelligent planning, high-precision execution tracking, and closed-loop proactive feedback.

[0020] This invention innovatively integrates three-dimensional ultrasound imaging, intelligent path planning, and high-precision optical positioning technology: a transparent vascular model is generated using three-dimensional ultrasound; a safe puncture path is planned and displayed as a virtual guide line using algorithms; the six-degree-of-freedom posture of the puncture needle is tracked in real time using optical positioning; and finally, an image fusion module integrates the model, guide line, and real-time driven virtual needle for a unified display, providing an intuitive navigation map. This invention solves the global problem of needle tip loss and unclear spatial relationships under two-dimensional ultrasound guidance, achieving significant progress in improving success rates, reducing complications, and enabling efficient single-person operation, and has revolutionary significance for ICU clinical practice.

[0021] Compared with the prior art, the present invention has at least one of the following beneficial effects: By deeply embedding real-time needle tracking information into the path planning algorithm and establishing a closed loop from display feedback to planning adjustment, the system can dynamically adapt to the operator's actions, achieving seamless collaboration between machine intelligence and manual operation, and solving the core problem of the disconnect between planning and execution in traditional solutions.

[0022] By mapping real needles into a virtual model that is always visible in milliseconds and displaying it on the same screen as a three-dimensional anatomical background and dynamic guidance path, operators no longer need to perform difficult spatial imagination. They can intuitively and uninterruptedly grasp the full-dimensional spatial relationship between the needle tip and blood vessel, and between the needle track and the path, thus solving the problem of needle tip loss under two-dimensional ultrasound guidance.

[0023] Dynamic optimization and proactive feedback significantly improve safety and success rates. Real-time information-based dynamic path optimization ensures the guidance path is always optimal and feasible. A tiered proactive alarm mechanism provides timely and clear alerts for deviations, greatly reducing the risk of complications. The system's collaborative nature makes efficient and precise single-person operation a common occurrence, making it particularly suitable for emergency scenarios such as ICUs.

[0024] The system of this invention is integrated into mobile devices, has strong anti-interference capabilities, and is flexible in deployment. Intuitive interaction and proactive system assistance lower the technical threshold, facilitating the rapid popularization and application of this advanced technology. Attached Figure Description

[0025] Figure 1 This is a flowchart of a clinical visualization deep vascular puncture guidance system for ICU patients. Detailed Implementation

[0026] To make the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings.

[0027] This invention provides an ICU clinical visualization deep vascular puncture guidance system, such as... Figure 1 As shown, it includes a three-dimensional ultrasound imaging module, an intelligent path planning module, a high-precision optical positioning and tracking module, and an image fusion and real-time display module. Through deep collaborative integration among the various modules, the system solves the problems of easy needle tip loss and unclear spatial relationships under two-dimensional ultrasound guidance.

[0028] The three-dimensional ultrasound imaging module uses a three-dimensional matrix array probe to scan the patient's target area and generates and renders a transparent three-dimensional tissue model containing the target blood vessels, surrounding arteries, and nerve structures in real time through a parallel computing reconstruction algorithm.

[0029] In use, the operator first scans the patient's target area using a 3D matrix array probe. The 3D ultrasound imaging module receives the scan data and, through a built-in parallel computing reconstruction algorithm, quickly generates and renders a transparent 3D tissue model containing the target blood vessels, surrounding arteries, and neural structures. This 3D tissue model can clearly distinguish different tissues and display them with different levels of transparency or color, providing an accurate anatomical background for subsequent path planning.

[0030] The intelligent path planning module communicates with the 3D ultrasound imaging module, automatically acquiring the reconstructed 3D tissue model. The operator can initiate path planning by selecting the target blood vessel on the touchscreen. The processor integrated within the intelligent path planning module runs a multi-objective planning algorithm based on real-time information dynamic optimization. This algorithm optimizes the objective function, minimizing the puncture path length, maximizing the distance between the path and the dangerous tissue, and constraining the needle insertion angle within a preset safe range. The algorithm uses the target blood vessel's depth, diameter, shortest Euclidean distance to the dangerous tissue, and safe angle range as input parameters to automatically calculate and uniquely recommend a safe puncture path from the optimal skin puncture point to the center of the target blood vessel. This path is then materialized as a virtual guide line continuously displayed in 3D space.

[0031] The multi-objective programming algorithm based on real-time information dynamic optimization has the following objective function: = · + · + · ; in, F represents the objective function value; L represents the planned path length; D min θ represents the minimum Euclidean distance between the path and all hazardous organizational elements; θ is the needle angle of the currently planned path; θ safe The preset center value of the safety angle range; α, β, γ are adjustable weighting coefficients; The intelligent path planning module is configured to receive real-time six-degree-of-freedom attitude data from the high-precision optical positioning and tracking module as a dynamic input parameter for its multi-objective planning algorithm, which is used to predict the needle insertion trend and dynamically fine-tune the virtual guide tube.

[0032] The high-precision optical positioning and tracking module uses a near-infrared optical camera array arranged above the operating space to capture at least three non-collinear optical marker spheres fixed on the puncture needle in real time, forming a virtual needle model and calculating the six-degree-of-freedom attitude data of the puncture needle tip in three-dimensional space, including three-dimensional coordinates and needle insertion angle.

[0033] The three-dimensional ultrasound imaging module is connected to a three-dimensional matrix array probe, which is used to perform ultrasound scanning of the target area of ​​the patient. A high-precision optical positioning and tracking module is connected to a near-infrared optical camera array positioned above the operating space. The puncture needle is a routinely used clinical puncture needle, on which at least three non-collinear optical marker balls are mounted via a detachable, lightweight clamp.

[0034] Upon system startup or first use, a spatial calibration procedure is executed. The high-precision optical positioning and tracking module and the three-dimensional ultrasound imaging module are spatially registered through the calibration procedure to ensure that the optical coordinate system defined by the optical camera array is consistent with the coordinate system of the three-dimensional ultrasound image. During the puncture, the optical camera array continuously emits near-infrared light and captures the reflection signal of the optical marker ball on the puncture needle. Through calculation, the six-degree-of-freedom attitude data of the puncture needle tip in three-dimensional space is obtained in real time, including its three-dimensional coordinates and insertion angle.

[0035] The image fusion and real-time display module communicates with the 3D ultrasound imaging module, the intelligent path planning module, and the high-precision optical positioning and tracking module. It is used to overlay and fuse the transparent 3D tissue model from the 3D ultrasound imaging module, the solidified virtual guide line from the intelligent path planning module, and the virtual needle model driven in real time based on the six-degree-of-freedom attitude data provided by the high-precision optical positioning and tracking module in a unified coordinate system. The fused image forms an integrated, interactive navigation interface on a display unit.

[0036] The movement of the virtual needle model is strictly synchronized with the movement of the physical puncture needle, allowing the operator to perceive the real-time three-dimensional spatial relationship between the needle tip and the blood vessel, and between the needle track and the guide line without cognitive burden.

[0037] The virtual guide line is preferably presented in the form of a semi-transparent tubular body with a bright color. The surface of the tubular body may have scale markings to indicate the depth, so that the operator can intuitively judge the depth of needle insertion.

[0038] The image fusion and real-time display module is also equipped with a deviation alarm submodule. The system continuously calculates the angular and positional deviations between the real-time tracked puncture needle trajectory and the planned virtual guide line. When any deviation exceeds a preset safety threshold, the system immediately generates an alarm signal. The visual alarm signal can be represented by a color change of the virtual guide line or virtual needle model, and can also be supplemented by an audible alarm.

[0039] The system also includes a user interaction and fine-tuning module, which allows operators to rotate, scale, and adjust the transparency of the 3D tissue model on the display unit via touch or an external mouse, and to manually fine-tune the skin entry point of the virtual guide line by dragging.

[0040] The high-precision optical positioning and tracking module and the three-dimensional ultrasound imaging module are spatially registered through a calibration procedure when the system starts up, ensuring that the optical coordinate system and the ultrasound image coordinate system are consistent.

[0041] The system is integrated into a mobile medical device terminal with casters and a lifting arm. The display unit is a touch screen, which is suitable for bedside environments such as ICU, emergency room and operating room.

[0042] This invention also provides a method for guiding deep vascular puncture in ICU clinical visualization, applied to an ICU clinical visualization deep vascular puncture guidance system, comprising the following steps: S1: Perform boot system initialization and automatic spatial coordinate system registration; S2: The target area is scanned by three-dimensional ultrasound. The three-dimensional ultrasound imaging module receives the scan data and reconstructs and displays a transparent three-dimensional tissue model of the target area in real time. S3: Based on the three-dimensional tissue model and the target blood vessel information input by the operator, a multi-objective programming algorithm based on real-time information dynamic optimization is run to generate an initial virtual guide tube; at the same time, the six-degree-of-freedom posture of the puncture needle is tracked in real time. S4: Perform proactive cooperative navigation: S41: Real-time fusion display of 3D tissue models, virtual guide tubes, and virtual needle models driven by real-time six-degree-of-freedom attitude; S42: A multi-objective planning algorithm based on real-time information dynamic optimization continuously receives real-time six-degree-of-freedom attitude data and dynamically optimizes the virtual guide tube accordingly; S43: Calculate the spatial deviation between the virtual needle model and the virtual guide tube in real time, and provide visual and audible alarms based on the deviation level; S5: When the tip of the virtual needle model coincides with the intravascular target point of the virtual guide tube and the posture is stable, the puncture is confirmed to be successful.

[0043] The working principle of this invention is as follows: The system of this invention first uses a three-dimensional matrix array ultrasound probe to scan the target area of ​​the patient. The acquired raw ultrasound data is rapidly processed by a built-in parallel computing reconstruction algorithm to generate a transparent three-dimensional tissue model in real time. This model is no longer a two-dimensional slice image, but a three-dimensional digital map containing key anatomical structures such as target blood vessels, surrounding arteries, and nerves, fundamentally solving the problem of missing spatial information in two-dimensional images.

[0044] Based on the 3D digital model generated in the first step, the system performs intelligent analysis and decision-making. The multi-objective programming algorithm within the module uses vessel depth, vessel diameter, spatial distance to hazardous tissues, and a clinically safe needle insertion angle range as key input parameters for comprehensive calculation. Its goal is to automatically find the anatomically safest and operatively most effective puncture path. Subsequently, the system materializes this abstract optimized path into a clear and continuously displayed virtual guide line in 3D space, providing the operator with a clear action objective.

[0045] In the physical world, an operator performs a puncture procedure. Optical marker spheres fixed to the puncture needle constitute a unique spatial beacon. An array of near-infrared optical cameras positioned above the workpiece continuously captures images of these marker spheres. Using triangulation principles, the precise three-dimensional coordinates of the puncture needle tip and the insertion angle are calculated in real time. This step transforms the physical operation into digital information that a computer can understand and process with millisecond precision.

[0046] The system overlays and fuses all the output information from the first three steps, such as the 3D tissue model, virtual guide line, and real-time needle posture data, in a unified coordinate system.

[0047] Ultimately, an integrated, interactive navigation interface is presented on the display unit: a transparent three-dimensional anatomical structure serves as the background, blue virtual guide lines serve as the navigation route, and a virtual needle model driven in real time by a real puncture needle serves as the starting position.

[0048] By observing the screen, the operator can intuitively perceive the real-time three-dimensional spatial relationship between the needle tip and the blood vessel, and between the needle insertion trajectory and the planned path without any cognitive burden, thus enabling them to accurately guide the physical puncture needle to the target along the virtual guide line.

[0049] Throughout the process, the system continuously compares the real-time tracked needle trajectory with the planned virtual guide line. If the system detects an angular or positional deviation exceeding a preset safety threshold, it immediately triggers a visual or audible alarm. This forms a safe closed-loop feedback loop, promptly reminding the operator to correct their actions, thereby minimizing risk.

Claims

1. An ICU clinical visualization deep vascular puncture guidance system, characterized in that, include The three-dimensional ultrasound imaging module uses a three-dimensional matrix array probe to scan the target area and generate a transparent three-dimensional tissue model in real time. The intelligent path planning module communicates with the three-dimensional ultrasound imaging module, automatically acquires three-dimensional tissue models, and integrates a processor based on a multi-objective optimization algorithm to run a multi-objective planning algorithm based on real-time information dynamic optimization, so as to generate and dynamically optimize a safe puncture path and materialize it into a virtual guide tube. The high-precision optical positioning and tracking module uses a near-infrared optical camera array arranged above the operating space. It captures at least three non-collinear optical marker spheres fixed on the puncture needle in real time to form a virtual needle model and calculates the six-degree-of-freedom attitude data of the puncture needle tip in three-dimensional space, including three-dimensional coordinates and needle insertion angle. The image fusion and real-time display module communicates with the three-dimensional ultrasound imaging module, the intelligent path planning module, and the high-precision optical positioning and tracking module. It is used to superimpose and fuse the transparent three-dimensional tissue model, the solidified virtual guide line, and the virtual needle model driven by six degrees of freedom attitude data in real time in a unified coordinate system, and form an integrated, interactive navigation interface on a display unit. In this process, the movement of the virtual needle model is synchronized with the movement of the physical puncture needle.

2. The ICU clinical visualization deep vascular puncture guidance system as described in claim 1, characterized in that, The aforementioned three-dimensional ultrasound imaging module uses a three-dimensional matrix array probe to scan the target area and generates and renders a transparent three-dimensional tissue model containing the target blood vessels, surrounding arteries, and nerve structures in real time through a parallel computing reconstruction algorithm.

3. The ICU clinical visualization deep vascular puncture guidance system as described in claim 1, characterized in that, The intelligent path planning module is configured to receive real-time six-degree-of-freedom attitude data from the high-precision optical positioning and tracking module as a dynamic input parameter for its multi-objective planning algorithm, used to predict the needle insertion trend and dynamically fine-tune the virtual guide tube.

4. The ICU clinical visualization deep vascular puncture guidance system as described in claim 1, characterized in that, The multi-objective programming algorithm optimizes the objective function to simultaneously minimize the puncture path length, maximize the distance between the path and the dangerous tissue, and constrain the needle insertion angle within a preset safety range.

5. The ICU clinical visualization deep vascular puncture guidance system as described in claim 1, characterized in that, The multi-objective planning algorithm takes the depth and diameter of the target blood vessel, the shortest Euclidean distance between it and the dangerous tissue, and the safe angle range as input parameters, automatically calculates and uniquely recommends a safe puncture path from the optimal skin puncture point to the center of the target blood vessel. This path is then materialized as a virtual guide line that is continuously displayed in three-dimensional space.

6. The ICU clinical visualization deep vascular puncture guidance system as described in claim 1, characterized in that, The objective function of the multi-objective programming algorithm based on real-time information dynamic optimization is: = · + · + · ； Where F is the objective function value; L is the planned path length; D min θ represents the minimum Euclidean distance between the path and all hazardous organizational elements; θ is the needle angle of the currently planned path; θ safe The preset center value of the safety angle range; α, β, γ are adjustable weighting coefficients.

7. The ICU clinical visualization deep vascular puncture guidance system as described in claim 1, characterized in that, The virtual guide line is presented in the form of a brightly colored, semi-transparent tubular shape, and the surface of the tubular shape may have scale markings indicating depth.

8. The ICU clinical visualization deep vascular puncture guidance system as described in claim 1, characterized in that, The image fusion and real-time display module is also equipped with a deviation alarm submodule; the deviation alarm submodule monitors the angular and positional deviations between the real-time tracked puncture needle trajectory and the planned virtual guide line; when any deviation exceeds a preset safety threshold, the deviation alarm submodule immediately generates an alarm signal.

9. The ICU clinical visualization deep vascular puncture guidance system as described in claim 1, characterized in that, It also includes a user interaction and fine-tuning module, which allows operators to rotate, scale, and adjust the transparency of the 3D tissue model on the display unit via touch or an external mouse, and to manually fine-tune the skin entry point of the virtual guide line by dragging.

10. A method for guiding deep vascular puncture in ICU clinical visualization, using the ICU clinical visualization deep vascular puncture guidance system as described in any one of claims 1-9, characterized in that, Includes the following steps: S1: Perform boot system initialization and automatic spatial coordinate system registration; S2: The target area is scanned by three-dimensional ultrasound. The three-dimensional ultrasound imaging module receives the scan data and reconstructs and displays a transparent three-dimensional tissue model of the target area in real time. S3: Based on the three-dimensional tissue model and the target blood vessel information input by the operator, a multi-objective programming algorithm based on real-time information dynamic optimization is run to generate an initial virtual guide tube; at the same time, the six-degree-of-freedom posture of the puncture needle is tracked in real time. S4: Perform proactive cooperative navigation: S41: Real-time fusion display of 3D tissue models, virtual guide tubes, and virtual needle models driven by real-time six-degree-of-freedom attitude; S42: A multi-objective planning algorithm based on real-time information dynamic optimization continuously receives real-time six-degree-of-freedom attitude data and dynamically optimizes the virtual guide tube accordingly; S43: Calculate the spatial deviation between the virtual needle model and the virtual guide tube in real time, and provide visual and audible alarms based on the deviation level; S5: When the tip of the virtual needle model coincides with the intravascular target point of the virtual guide tube and the posture is stable, the puncture is confirmed to be successful.

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