Automatic needle inserting depth control system based on depth perception

By combining multimodal environmental perception and highly sensitive mechanical monitoring, the problem of identifying dynamic tissue deformation and mechanical differences in automated puncture equipment is solved, achieving high-precision needle insertion control, reducing the risk of mispuncture, and improving the system's adaptability in complex surgical environments.

CN122423959APending Publication Date: 2026-07-21张欣
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Patent Information

Application Number
CN202610569774.9
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-04-28
Publication Date
2026-07-21

AI Technical Summary

Technical Problem

Existing automated puncture equipment cannot compensate for dynamic tissue deformation in real time during needle insertion, resulting in target position deviation. Furthermore, traditional force feedback control is difficult to distinguish subtle mechanical differences between different tissue layers, leading to insufficient precision in needle depth control and a risk of mispuncture.

Method used

Employing a multimodal environmental sensing unit and a high-sensitivity mechanical monitoring unit, combined with dynamic deformation estimation and depth decision control, and integrating high-resolution depth vision components, infrared structured light projection, multi-dimensional force sensor arrays, and precision mechanical drive units, it achieves real-time 3D point cloud data acquisition, tissue surface topology reconstruction, mechanical load monitoring, and closed-loop control, ensuring that the needle tip accurately reaches the predetermined lesion area.

Benefits of technology

It achieves dynamic and precise tracking of the target location, improves needle insertion accuracy to 0.5mm, reduces the risk of accidentally puncturing critical organs and blood vessels, and enhances the robustness and adaptability of the system in complex surgical environments.

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Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to an automatic needle inserting depth control system based on depth perception. The invention discloses an automatic needle insertion depth control system based on depth perception, and the system comprises a multi-mode environment perception unit which is used for obtaining a 3D point cloud and reconstructing a surface topology; the high-sensitivity mechanical monitoring unit is used for monitoring a puncture load curve in real time; the dynamic deformation estimation unit is used for calculating a tissue displacement vector field; the depth decision control unit is used for determining the physical distance of the needle tip according to the deformation and mechanical characteristics and generating a correction instruction; and the precision mechanical driving unit is used for executing needle inserting closed-loop control. Through fusion of depth perception and mechanical feedback, the precise tracking problem under dynamic tissue deformation is effectively solved, real-time precise control over the needle inserting depth is achieved, the risk of mispenetration is remarkably reduced, and the operation safety is improved.
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