A real-time stereoscopic ultrasound imaging puncture positioning probe for intervention guidance

Abstract

The present application relates to the technical field of ultrasonic imaging, in particular to a real-time stereoscopic ultrasonic imaging puncture positioning probe for intervention guidance, comprising a carrier and a puncture guide assembly, the bottom of the carrier is provided with a first ultrasonic probe, a second ultrasonic probe and a driving mechanism, the sound beam planes emitted by the first ultrasonic probe and the second ultrasonic probe are orthogonally distributed, the first ultrasonic probe and the puncture guide assembly are located in the same plane, and the second ultrasonic probe is slidingly connected with the carrier; the real-time stereoscopic ultrasonic imaging puncture positioning probe further comprises a control module and a display module, the control module is used for performing three-dimensional reconstruction based on a two-dimensional ultrasonic image collected by the second ultrasonic probe, fitting to generate a three-dimensional ultrasonic image, and projecting a two-dimensional ultrasonic image collected by the first ultrasonic probe in the three-dimensional ultrasonic image; and the display module is used for displaying the three-dimensional ultrasonic image generated by the control module. The present application can provide real-time stereoscopic visual information of a puncture needle and a target, and realize accurate and safe ultrasonic guided puncture.

Description

Technical Field

[0001] This invention relates to the field of ultrasound imaging technology, and more specifically to a real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance. Background Technology

[0002] Ultrasound-guided percutaneous puncture interventional procedures (such as biopsy and drainage) have become routine clinical diagnostic and treatment methods. They have the core advantages of no ionizing radiation, real-time imaging, portability, and low cost, and play a significant role in clinical diagnosis and treatment.

[0003] Currently, the mainstream ultrasound-guided modes in clinical practice are in-plane imaging and out-of-plane imaging, but both have inherent spatial positioning and visual perception defects, making it difficult to meet the clinical needs for precise, safe, and efficient puncture.

[0004] Planar imaging requires the puncture needle to be precisely placed within the acoustic plane of the ultrasound probe. A deviation of even a few millimeters can cause the needle to "disappear." Furthermore, the operator must simultaneously adjust the probe and the direction of needle insertion, which can easily lead to hand-eye coordination problems, especially in complex anatomical scenarios where it is difficult to maintain coplanarity. At the same time, it only provides a single two-dimensional section and cannot determine the true position of the puncture needle in the thickness direction of the section, which can easily cause misleading results.

[0005] In out-of-plane imaging, the puncture needle is inserted perpendicular to the probe. The acoustic plane only shows a single hyperechoic point of the needle body, making it impossible to distinguish between the needle tip and the needle body. The position of the needle tip must be inferred indirectly, which is cumbersome and prone to misjudgment. In addition, the operator needs to integrate multiple types of information to build a three-dimensional model, which is a heavy cognitive burden and has a long learning curve. Even experienced physicians are prone to spatial misjudgment.

[0006] Given the shortcomings of existing technologies, there is an urgent need for a new type of real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance. Through the structure and imaging principle of the probe itself, it can directly generate real-time stereoscopic visual information containing the puncture needle and the target, while providing intuitive display of spatial depth, orientation and trajectory. This will overcome the key defects of existing in-plane and out-of-plane imaging, and achieve precise, safe and efficient ultrasound-guided puncture intervention. Summary of the Invention

[0007] To address the aforementioned issues, this invention provides a real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance, which provides real-time stereoscopic visual information of the puncture needle and the target, overcoming existing shortcomings and achieving precise and safe ultrasound-guided puncture.

[0008] To achieve the above objectives, the technical solution of the present invention is as follows: A real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance includes a carrier and a puncture guide assembly. The puncture guide assembly provides puncture guidance for the puncture needle. A first ultrasound probe, a second ultrasound probe, and a driving mechanism are disposed at the bottom of the carrier. The sound beam planes emitted by the first and second ultrasound probes are orthogonally distributed. The first ultrasound probe and the puncture guide assembly are located in the same plane. The second ultrasound probe is slidably connected to the carrier. The driving mechanism drives the second ultrasound probe to reciprocate. The probe also includes a control module and a display module. The control module performs three-dimensional reconstruction based on the two-dimensional ultrasound image acquired by the second ultrasound probe, fits and generates a three-dimensional ultrasound image, and projects the two-dimensional ultrasound image acquired by the first ultrasound probe into the three-dimensional ultrasound image. The display module displays the three-dimensional ultrasound image generated by the control module.

[0009] The technical principles of the above solution are as follows:

[0010] After the carrier is placed above the target area, the control module activates the drive mechanism, driving the second ultrasound probe to reciprocate along the sliding direction of the carrier. During the movement, the second ultrasound probe continuously acquires a series of parallel and equally spaced two-dimensional ultrasound images (i.e., B-mode ultrasound sections). Based on the spatial order of each image, the control module stacks and interpolates these two-dimensional sections to fit and generate three-dimensional ultrasound volume data that includes the complete shape, position, and surrounding anatomical structures of the target.

[0011] The puncture needle is advanced along the puncture guide assembly. Since the first ultrasound probe and the puncture guide assembly are located in the same plane, and the plane of the sound beam emitted by the first ultrasound probe coincides with this plane, the entire needle body (especially along its long axis) remains within the imaging plane of the first ultrasound probe. The first ultrasound probe acquires two-dimensional ultrasound images containing the puncture needle and the tissue structures within the current section in real time at a high frame rate.

[0012] The control module projects the two-dimensional image (including the current spatial orientation of the puncture needle) acquired in real time by the first ultrasound probe onto the generated three-dimensional ultrasound image according to its corresponding positional relationship with the three-dimensional reconstructed space. The display module finally outputs the fused three-dimensional image, in which:

[0013] The 3D background image shows the three-dimensional structure of the target and its surrounding tissues;

[0014] The real-time projected two-dimensional cross-sectional image clearly shows the current position of the puncture needle in three-dimensional space, the direction of needle insertion, and the relative depth relationship with the target.

[0015] By observing the display module, the operator can intuitively obtain the real-time relative position, depth deviation, and trajectory prediction of the puncture needle and the target in three-dimensional space without having to perform additional spatial transformation or indirect inference in their mind.

[0016] The above approach has the following beneficial effects:

[0017] 1. This solution allows the operator to intuitively obtain the complete shape and spatial position of the target in the three dimensions of length, width, and thickness by scanning and reconstructing a three-dimensional image through a second ultrasonic probe. This eliminates the need to rely on indirect reasoning or subjective imagination based on two-dimensional cross-sections, and completely solves the problem of "not being able to know the true position in the thickness direction" in traditional planar imaging.

[0018] 2. In this design, the first ultrasound probe and the puncture guide assembly are coplanarly positioned, ensuring that the puncture needle remains within the acoustic beam plane and its long axis is displayed in high brightness throughout, fundamentally eliminating the phenomenon of needle loss of visibility due to slight in-plane imaging. Simultaneously, the real-time projected two-dimensional image clearly distinguishes the needle tip from the needle body, eliminating the need to indirectly infer the needle tip position through needle echo points or motion methods as in out-of-plane imaging, thus eliminating the risk of misjudgment.

[0019] 3. With this solution, the operator only needs to observe the fused 3D image on the display module to complete the needle insertion path adjustment and target positioning. There is no need to simultaneously coordinate multiple tasks such as probe movement, needle alignment, and spatial visualization, nor is it necessary to mentally reconstruct 3D information from multiple 2D sections. This reduces the difficulty of hand-eye coordination, enabling even inexperienced physicians to quickly master precise puncture procedures.

[0020] Furthermore, the puncture guide assembly includes a sleeve disposed on one side of the carrier, a guide groove is provided inside the sleeve, the bottom of the sleeve is rotatably connected to the carrier, a deflection groove ring is detachably connected to the outer side of the carrier near the sleeve, a deflection rod for allowing the sleeve to deflect is provided between the deflection groove ring and the sleeve, and the end of the deflection rod away from the carrier is fixedly connected to the sleeve.

[0021] Beneficial effects: By using a deflector rod to deflect the cannula, the operator can adjust the cannula's tilt angle in real time according to the actual depth, location, and surrounding anatomical structures of the target, thereby changing the insertion direction of the puncture needle. Compared to fixed-angle guide mechanisms, this solution can cover diverse puncture needs from superficial to deep, and from vertical to large-angle tilt, significantly improving the clinical applicability of the probe.

[0022] Furthermore, a movable groove is provided at the bottom of the carrier, and the second ultrasonic probe is slidably connected in the movable groove. The first ultrasonic probe divides the movable groove into two parts. The driving mechanism includes a disc rotatably connected to the inner wall of the movable groove. A power component is coaxially connected to the disc, and the power component is used to drive the disc to rotate. A slide rod is eccentrically connected to the disc. A sliding plate is provided between the movable groove and the second ultrasonic probe. The sliding plate is slidably engaged with the movable groove and slidably connected with the second ultrasonic probe. The sliding plate and the slide rod correspond one-to-one. A sliding groove is provided in the sliding plate, and the slide rod is slidably engaged with the sliding groove. The control module is used to drive the power component to make the disc reciprocate within 180 degrees around its own center.

[0023] Beneficial effects: By rotating the disc back and forth within a 180° range, the eccentric slide bar drives the slide plate and the second ultrasonic probe to perform periodic linear reciprocating motion. This mechanism smoothly converts rotational motion into linear motion, with the motion speed having a definite functional relationship with the angular velocity of the disc. The control module can precisely adjust the rotational speed and direction of the power components, thereby ensuring that the second ultrasonic probe moves at a uniform speed and continuously within the scanning area.

[0024] Furthermore, the side wall of the active trough is connected to several discharge ports, each of which is connected to a collection chamber, and each discharge port is equipped with a one-way discharge valve.

[0025] Beneficial Effects: Before ultrasound-guided puncture, sufficient coupling agent needs to be applied to the patient's skin surface to remove air and ensure acoustic coupling. As the second ultrasound probe reciprocates within the movable groove, the probe and slide plate act like a "scraper," gradually pushing the coupling agent towards both ends of the groove. If not drained in time, the accumulated coupling agent will raise the probe or alter the acoustic window thickness, leading to dark areas, artifacts, or signal attenuation in the ultrasound image. This solution addresses this by setting a drain port and a one-way drain valve. When the slide plate moves to the end of the movable groove, the side or front of the slide plate squeezes the accumulated coupling agent, increasing its pressure and pushing open the one-way valve to drain it into the collection chamber. This maintains a uniform and stable coupling agent thickness within the movable groove, ensuring consistent acoustic conditions for each frame of two-dimensional image acquired by the second ultrasound probe and preventing image distortion or reconstruction failure caused by coupling agent accumulation.

[0026] Furthermore, it also includes a coupling agent replenishment mechanism; the coupling agent replenishment mechanism includes several injection ports opened on the disc, each injection port is connected to an annular groove, the annular groove is connected to an injection chamber, and an injection pump is provided on the communication path between the injection chamber and the annular groove, the injection pump being electrically connected to the control module.

[0027] Beneficial effects: During the reciprocating scanning process of the second ultrasound probe, excess coupling agent is continuously discharged from the drain port. If operation is prolonged or the initial coupling agent coating is insufficient, the coupling agent in the moving groove may become too little or even dry, causing air gaps in the acoustic window and severely reducing image quality. This solution uses a coupling agent replenishment mechanism. The control module starts the injection pump according to a preset strategy (such as timing, number of scans, or real-time detection of coupling agent thickness), delivering the coupling agent in the injection chamber through the annular groove to the injection port on the disc. As the disc rotates, the coupling agent is evenly distributed into the moving groove, achieving a dynamic balance between discharge and replenishment. This ensures a stable and continuous coupling agent layer at all times, avoiding image attenuation or artifacts caused by insufficient coupling agent.

[0028] The injection port is located on a disc, which rotates continuously (180° reciprocating rotation) while driving the second ultrasonic probe in its reciprocating motion. During rotation, the coupling agent discharged from the injection port, under the action of centrifugal force and relative motion, can spread evenly along the surface of the disc, the slide bar, and the inner wall of the movable groove, and flow naturally to the acoustic window area of ​​the second ultrasonic probe. This design cleverly utilizes the motion characteristics of the existing drive mechanism, eliminating the need for an additional independent coating or spraying device, resulting in a compact structure and reliable operation.

[0029] Furthermore, each of the slide plates has a squeezing groove at its bottom, and the second ultrasonic probe slides into the squeezing groove. Each squeezing groove is connected to a gas injection mechanism for supplying gas to the squeezing groove.

[0030] Beneficial effects: The second ultrasound probe slides into the compression groove. After the gas injection mechanism delivers gas into the compression groove, the gas pressure acts on the upper surface of the probe, generating a downward thrust, allowing the probe to adhere to the patient's skin with controllable pressure. Compared to relying solely on the probe's own weight or the passive floating of a spring, this solution can actively adjust the gas pressure value according to actual needs (such as obese patients, bone surfaces, soft abdomens, etc.), thereby obtaining stable and optimal acoustic coupling conditions. This avoids excessive pressure leading to tissue deformation or patient discomfort, and also avoids insufficient pressure causing poor acoustic window contact.

[0031] Furthermore, a transfer channel is connected to either side of the chute, the transfer channel is connected to the outside, a throat is connected to the transfer channel, a detection groove and several detection holes are connected to the throat, the detection holes are connected to the movable groove, and a pressure regulating mechanism is provided in the detection groove. The pressure regulating mechanism is used to adjust the pressure between the second ultrasonic probe and the target area based on the pressure change in the detection groove.

[0032] Beneficial effects: The pressure applied to the second ultrasound probe should be moderate and minimized. Excessive pressure can cause tissue or organ displacement, alter anatomical relationships, and affect the accuracy and repeatability of image acquisition. Using sufficient coupling agent helps to reduce the required pressure while ensuring contact.

[0033] During the reciprocating movement of the second ultrasonic probe driven by the disc, the slide rod slides relative to the slide groove on the slide plate. One side of the slide groove is connected to a transfer channel, which is open to the outside atmosphere and has a throat (Venturi tube structure or narrowed section) inside. When the slide rod reciprocates within the slide groove, the gas inside the groove is repeatedly pushed into the transfer channel and flows through the throat. According to Bernoulli's principle, the gas velocity increases and the pressure decreases as it flows through the throat, creating a negative pressure in the throat and the connected detection groove.

[0034] The throat passage connects to the movable tank via several detection holes. Initially, the movable tank contains relatively little coupling agent, and all detection holes are exposed to air. When negative pressure is generated, air can be drawn in through the detection holes and throat passage, maintaining a stable pressure within the detection tank (close to atmospheric pressure). As the second ultrasonic probe reciprocates, the control module gradually injects coupling agent from the injection chamber into the movable tank, causing the coupling agent level to rise and gradually submerge the detection holes. Each time a detection hole is covered, one air supply channel is reduced, leading to an increase in the negative pressure within the detection tank. The more detection holes covered, the greater the negative pressure within the detection tank.

[0035] The pressure control mechanism inside the testing tank monitors the negative pressure value in real time. This negative pressure value indirectly reflects the content of coupling agent in the active tank: the higher the negative pressure, the more coupling agent there is, and the less pressure is needed. The pressure control mechanism reduces the air pressure in the squeezing tank, causing the second ultrasound probe to be slightly raised, maintaining only the minimum effective contact pressure, reducing pressure on the skin, avoiding excessive compression of tissue, and ensuring that the pressure between the second ultrasound probe and the patient's skin is within the optimal range.

[0036] Excessive probe pressure can cause deformation or even displacement of subcutaneous tissue (especially superficial blood vessels, small tumors, or soft organs), leading to deviations between the reconstructed 3D image and the actual anatomical structure, thus affecting puncture path planning. This approach automatically reduces probe pressure when sufficient coupling agent is available, maintaining only the minimum contact force required for acoustic coupling, thereby minimizing tissue deformation and ensuring the geometric fidelity and repeatability of 3D ultrasound data.

[0037] Furthermore, the pressure control mechanism includes several exhaust channels connecting the extrusion groove and the transfer channel, each of which is connected to a pressure relief valve; a slot is provided between the detection groove and the exhaust channels, one end of the slot is connected to the detection groove, and the other end of the slot passes through all the exhaust channels, with a baffle slidingly fitted inside the slot, and an elastic diaphragm is provided inside the detection groove, which is fixedly connected to the baffle. Initially, the baffle blocks all the exhaust channels, and as the negative pressure in the detection groove gradually increases, the deformation of the elastic diaphragm gradually increases, and the baffle gradually moves away from the exhaust channels.

[0038] Beneficial Effects: This solution utilizes an elastic membrane to sense changes in negative pressure within the detection tank. Through the mechanical linkage between the baffle and the slot, it directly controls the number of openings and closings of the exhaust channels, thereby adjusting the trigger pressure of the pressure relief valve. The entire process requires no pressure sensors, analog-to-digital converters, or microprocessors; it relies entirely on fluid dynamics and the physical properties of the elastic element to achieve closed-loop control. This not only significantly reduces manufacturing costs and electromagnetic interference risks but also substantially improves the long-term reliability of the system in harsh environments such as humidity and disinfectant corrosion.

[0039] Furthermore, based on the triggered response sequence, the preset trigger pressure inside the pressure relief valve gradually decreases.

[0040] Beneficial effects: If all pressure relief valves have the same threshold, once the air pressure in the extrusion tank drops below that threshold, all unopened valves will be permanently unable to open, and the probe pressure adjustment range will be compressed into an extremely narrow range. This solution, through a decreasing threshold design, allows the air pressure in the extrusion tank to gradually decrease to lower levels, and the probe pressure adjustment range covers the entire range from strong pressure coupling to micro-pressure contact, adapting to various working conditions from drying with little adhesive to being full of coupling agent.

[0041] Furthermore, the air injection mechanism includes an air pump, which is used to deliver air into the extrusion groove, and an air injection valve is connected to the air pump output end and the extrusion groove through a communication path.

[0042] Beneficial effects: The air pump can actively deliver compressed air into the extrusion chamber, while the air injection valve can precisely control the air intake or turn it on and off in real time, so that the pressure of the second ultrasound probe on the skin can be continuously and quickly adjusted within a wide range (from zero pressure to several Newtons). Attached Figure Description

[0043] Figure 1 This is a three-dimensional structural schematic diagram of the real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance according to the present invention.

[0044] Figure 2 for Figure 1 A side view of a real-time stereoscopic ultrasound imaging puncture positioning probe used for interventional guidance.

[0045] Figure 3 for Figure 2 Schematic diagram of cross-section along the middle AA direction;

[0046] Figure 4 for Figure 3 Schematic diagram of cross-section along the middle BB direction;

[0047] Figure 5 for Figure 4 A schematic diagram of the internal structure of the sliding plate;

[0048] Figure 6 for Figure 5A magnified view of a portion of point M in the middle.

[0049] The reference numerals in the accompanying drawings include: 1. Carrier; 2. Sleeve; 3. Deflecting rod; 101. Injection chamber; 102. Ring; 103. Collection chamber; 104. First ultrasonic probe; 105. Disc; 106. Annular groove; 107. Power component; 108. Movable groove; 109. Exhaust port; 110. One-way exhaust valve; 111. Injection port; 112. Slide plate; 113. Slide groove; 114. Slide rod; 115. Extrusion groove; 116. Second ultrasonic probe; 117. Detection hole; 118. Transfer channel; 119. Throat; 120. Injection valve; 121. Detection groove; 122. Exhaust channel; 123. Baffle; 124. Pressure relief valve; 125. Elastic membrane; 126. Slot; 201. Guide groove. Detailed Implementation

[0050] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0051] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0052] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0053] The following detailed description illustrates the specific implementation method:

[0054] Example:

[0055] As attached Figure 1 - Appendix Figure 6As shown: A real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance includes a carrier 1 and a puncture guide assembly. The puncture guide assembly provides puncture guidance for the puncture needle externally. The puncture guide assembly includes a cannula 2 disposed on one side of the carrier 1, and a guide groove 201 is formed inside the cannula 2. Specifically, in conjunction with the attached... Figure 3 As shown, a ring 102 is detachably and slidably connected to the outside of the carrier 1. A deflection rod 3 is welded and fixed to the side of the ring 102 near the sleeve 2. The end of the deflection rod 3 away from the carrier 1 is fixedly connected to the sleeve 2. Preferably, the deflection rod 3 mainly consists of an inner rod and an outer rod. The inner rod and the outer rod are slidably connected. The end of the outer rod away from the sleeve 2 is welded and fixed to the carrier 1, and the end of the inner rod away from the carrier 1 is welded and fixed to the sleeve 2. An encoder is also installed between the inner rod and the outer rod. The encoder is used to measure the deflection angle of the sleeve 2. That is, by measuring the relative sliding distance between the inner rod and the outer rod, the deflection angle of the sleeve 2 can be obtained by converting it according to a preset algorithm (the relative sliding distance between the inner rod and the outer rod is mapped to the deflection angle of the sleeve 2). When the sleeve 2 is not needed for assistance or when disinfection is required, the ring 2 can be removed along the outside of the carrier 1.

[0056] The bottom of the carrier 1 is equipped with a first ultrasonic probe 104, a second ultrasonic probe 116, and a driving mechanism. The sound beams emitted by the first ultrasonic probe 104 and the second ultrasonic probe 116 are orthogonally distributed. In this embodiment, both the first ultrasonic probe 104 and the second ultrasonic probe 116 integrate piezoelectric crystal arrays (which utilize the piezoelectric effect to achieve the mutual conversion of electrical energy and acoustic energy, and are the core components for ultrasonic wave transmission and reception), acoustic lenses, housings, electrodes, and circuits, as well as other basic core functional modules of existing ultrasonic probes. (See attached diagram.) Figure 3 and attached Figure 4 As shown, the first ultrasound probe 104 and the puncture guide assembly (the axis of the cannula 2) are located in the same plane.

[0057] Preferably, the bottom of the carrier 1 has a movable groove 108, which is a non-sealed structure. The second ultrasonic probe 116 is slidably connected in the movable groove 108. The first ultrasonic probe 104 divides the movable groove 108 into two parts. In this embodiment, there are a total of two sets of second ultrasonic probes 116, which are slidably engaged with (see attached figure for details). Figure 4 The drive mechanism includes a disc 105 rotatably connected to the inner wall of the movable groove 108. A power component 107 is coaxially connected to the disc 105. The power component 107 is a servo motor, and the output shaft of the servo motor is coaxially fixedly connected to the disc 105 via a coupling. The rotation of the output shaft of the servo motor drives the disc 105 to rotate. A slide rod 114 is eccentrically connected to the disc 105. The slide rod 114 is welded and fixed to the disc 105. In this embodiment, there are two sets of slide rods 114. The slide rods 114 are arranged symmetrically with the center of the disc 105 as the center. Figure 5As shown, a sliding plate 112 is provided between the inner wall of the movable groove 108 and the second ultrasonic probe 116. The top of the sliding plate 112 is slidably engaged with the movable groove 108, and the bottom of the sliding plate 112 is slidably connected to the second ultrasonic probe 116. The sliding plate 112 and the sliding rod 114 correspond one-to-one. A sliding groove 113 is provided on the top of the sliding plate 112, and the sliding rod 114 is slidably engaged with the sliding groove 113. By rotating the output shaft of the starting power component 107, the disc 105 is driven to reciprocate within 180 degrees around its own center (i.e., rotate), which in turn drives the sliding plate 112 to reciprocate within the movable groove 108.

[0058] Preferably, the sidewall of the movable groove 108 is connected to a plurality of discharge ports 109, each of which is connected to a collection chamber 103. The collection chamber 103 is an annular chamber, and each of the discharge ports 109 is connected to a one-way discharge valve 110. When the pressure difference between the movable groove 108 and the collection chamber 103 exceeds a preset value, the coupling agent in the movable groove 108 will be discharged into the collection chamber 103 under the action of the pressure difference.

[0059] Preferably, the device further includes a coupling agent replenishment mechanism; the coupling agent replenishment mechanism includes a plurality of injection ports 111 formed on the disc 105, each injection port 111 being connected to an annular groove 106, all injection ports 111 being connected within the same annular groove 106, the annular groove 106 being connected to an injection chamber 101, and an injection pump being connected along the communication path between the injection chamber 101 and the annular groove 106. Preferably, each injection port 111 is also connected to a one-way inlet valve to prevent liquid in the movable tank 108 from flowing back into the annular groove 106.

[0060] Preferably, each of the slide plates 112 has a compression groove 115 at its bottom. The second ultrasonic probe 116 slides in conjunction with the compression groove 115, and each compression groove 115 is connected to an injection mechanism for supplying gas to the compression groove 115. Specifically, the injection mechanism includes an air pump, which is installed inside the carrier 1. The output end of the air pump is connected to the compression groove 115 through a conduit. The air pump is used to supply air into the compression groove 115, and an injection valve 120 is connected to the path between the output end of the air pump and the compression groove 115.

[0061] Preferred, combined with appendix Figure 5 and attached Figure 6As shown, a transfer channel 118 is connected to either side of the slide 113, and the transfer channel 118 is connected to the outside. A throat 119 is connected within the transfer channel 118, and the throat 119 is connected to a detection groove 121 and several detection holes 117. The detection holes 117 are arranged along the height direction of the slide plate 112 and are connected to the movable groove 108. A pressure regulating mechanism is provided within the detection groove 121. This mechanism is used to adjust the contact pressure between the second ultrasound probe 116 and the target area (patient's skin) based on pressure changes within the detection groove 121. A higher negative pressure within the detection groove 121 indicates a greater amount of coupling agent, requiring only a smaller pressure. The pressure regulating mechanism slightly lifts the second ultrasound probe, maintaining only the minimum effective contact pressure, reducing pressure on the skin, avoiding excessive tissue compression, and ensuring that the pressure between the second ultrasound probe and the patient's skin is within the optimal range.

[0062] Specifically, the pressure control mechanism includes several exhaust channels 122 connected between the extrusion groove 115 and the transfer channel 118. Each exhaust channel 122 is connected to a pressure relief valve 124. Based on the triggered response sequence, the preset trigger pressure in the pressure relief valve 124 gradually decreases. In this embodiment, the pressure relief valve 124 in the lowermost exhaust channel 122 responds first, and the preset trigger pressure of the lowermost pressure relief valve 124 is the highest. A slot 126 is provided between the detection groove 121 and the exhaust channel 122. The top of the slot 126 is connected to the detection groove 121, and the bottom of the slot 126 passes through and connects all the exhaust channels 122. A baffle 123 is slidably fitted inside the slot 126. An elastic membrane 125 is bonded and fixed inside the detection groove 121. The center of the elastic membrane 125 is bonded and fixed to the top of the baffle 123. Initially, the baffle 123 blocks all the exhaust channels 122. As the negative pressure in the detection groove 121 gradually increases, the deformation of the elastic membrane 125 gradually increases, and the baffle 123 gradually moves away from the exhaust channel 122.

[0063] It also includes a control module and a display module. The control module is used to perform three-dimensional reconstruction based on the two-dimensional ultrasound images acquired by the second ultrasound probe 116. It generates a three-dimensional ultrasound image by stacking continuous, parallel and dense two-dimensional ultrasound images acquired by the second ultrasound probe 116 and projecting the two-dimensional ultrasound images acquired by the first ultrasound probe 104 into the three-dimensional ultrasound image. The display module (specifically adopting the display of the existing ultrasound probe) is used to display the three-dimensional ultrasound image generated by the control module.

[0064] The specific implementation process is as follows:

[0065] Medical ultrasound coupling agent is applied to the skin surface to ensure there are no air gaps between the first ultrasound probe 104 and the second ultrasound probe 116 and the skin. The operator first places the carrier 1 on the skin surface of the patient's area to be punctured, ensuring that the first ultrasound probe 104 and the second ultrasound probe 116 at the bottom of the carrier 1 are in contact with the skin. The control module is activated, and the system performs a self-check: the first ultrasound probe 104 and the second ultrasound probe 116 begin to work, and the servo motor in the drive mechanism drives the disc 105 to rotate back and forth at a small angle, confirming that the slide plate 112 and the second ultrasound probe 116 move smoothly without jamming. At the same time, the air pump in the air injection mechanism starts, injecting a preset initial air pressure into the compression groove 115 at the bottom of each slide plate 112 through the air injection valve 120, so that the second ultrasound probe 116 is in close contact with the skin with appropriate pressure, forming a stable initial state of acoustic coupling.

[0066] The control module sends commands to the servo motor, driving the disk 105 to reciprocate within a 180-degree range. The eccentrically connected slide rod 114 on the disk 105 rotates accordingly, sliding relative to the slide groove 113 of the slide plate 112, thus converting the rotational motion of the disk 105 into the linear reciprocating motion of the slide plate 112 within the movable groove 108. The slide plate 112 drives the second ultrasonic probe 116 to move continuously and smoothly along the movable groove 108, covering the entire movable groove 108 area on both sides of the first ultrasonic probe 104.

[0067] During the movement of the second ultrasonic probe 116, its built-in piezoelectric crystal array emits ultrasonic waves at a fixed frequency and receives echo signals, continuously acquiring a series of parallel and equally spaced two-dimensional ultrasonic cross-sectional images. The control module acquires the spatial position information of each frame of image in real time (calculated by the encoder of the servo motor or the rotation angle of the disk 105), and performs stacking, interpolation, and three-dimensional reconstruction processing on these two-dimensional images to fit and generate three-dimensional ultrasonic body data containing the complete morphology, position, and spatial relationship of the target and its surrounding tissues.

[0068] During the movement of the second ultrasound probe 116, the first ultrasound probe 104 remains static, with its sound beam plane coplanar with the axis of the puncture guide assembly. The first ultrasound probe 104 continuously acquires two-dimensional ultrasound images containing the tissue structure within the plane, but these images are not projected into the three-dimensional image for the time being. They are mainly used for real-time tracking of the subsequent puncture needle.

[0069] During the reciprocating scanning of the second ultrasonic probe 116, the second ultrasonic probe 116 and the slide plate 112 gradually push the coupling agent in the movable groove 108 towards both ends of the movable groove 108. When the coupling agent accumulates to a certain extent, the pressure rises and exceeds the preset opening pressure of the one-way discharge valve 110, the one-way discharge valve 110 opens, and the excess coupling agent is discharged into the collection chamber 103 through the discharge port 109, thus avoiding uneven acoustic window thickness caused by coupling agent accumulation.

[0070] Simultaneously, the control module can activate the coupling agent replenishment mechanism based on the real-time needs of 3D reconstruction or operator commands. The injection pump injects the coupling agent from the injection chamber 101 into the movable tank 108 through the annular groove 106 and the injection port 111 on the disc 105, replenishing the coupling agent lost due to evaporation or discharge, ensuring that the movable tank 108 always maintains an appropriate coupling agent dosage. A one-way inlet valve prevents backflow of the coupling agent in the movable tank 108.

[0071] During the scanning process of the second ultrasonic probe 116, the reciprocating motion of the slide bar 114 within the slide groove 113 of the slide plate 112 pushes the gas within the slide groove 113 through the transfer channel 118 and the throat 119. Because the throat 119 has a narrowed diameter structure, the gas velocity increases and the pressure decreases as it flows through the throat 119, generating negative pressure within the detection groove 121. The detection groove 121 is connected to the movable groove 108 through multiple detection holes 117 arranged along the height direction of the slide plate 112.

[0072] Initially, the couplant level in the active tank 108 is low, and all detection holes 117 are exposed to air (the active tank 108 is a non-sealed structure, so air can be supplied from the outside). Air can freely enter the detection tank 121, resulting in very low negative pressure within the detection tank 121. As the couplant replenishment mechanism continuously injects couplant or the couplant naturally distributes during the scanning process, the liquid level in the active tank 108 gradually rises, successively submerging each detection hole 117 from bottom to top. Each time a detection hole 117 is submerged, the air supply channel for that hole is cut off, and the negative pressure within the detection tank 121 increases accordingly.

[0073] The pressure applied to the second ultrasound probe 116 should be moderate and minimized. Excessive pressure can cause tissue or organ displacement, alter anatomical relationships, and affect the accuracy and repeatability of image acquisition. Using sufficient coupling agent helps to reduce the required pressure while ensuring contact.

[0074] As the disc 105 drives the second ultrasonic probe 116 to reciprocate, the slide rod 114 slides relative to the slide groove 113 on the slide plate 112. A transfer channel 118 is connected to one side of the slide groove 113, which is open to the outside atmosphere and has a throat 119 (a Venturi tube structure or a narrowed section) inside. When the slide rod 114 reciprocates within the slide groove 113, the gas within the slide groove 113 is repeatedly pushed into the transfer channel 118 and flows through the throat 119. According to Bernoulli's principle, the gas velocity increases and the pressure decreases as it flows through the throat 119, creating a negative pressure within the throat 119 and its connected detection groove 121.

[0075] The throat 119 is connected to the movable groove 108 through several detection holes 117. Initially, the movable groove 108 contains little coupling agent, and all detection holes 117 are exposed to air. When negative pressure is generated, air can be drawn in through the throat 119 from the detection holes 117, maintaining a stable pressure (close to atmospheric pressure) within the detection groove 121. As the second ultrasonic probe 116 reciprocates, the control module gradually injects coupling agent from the injection chamber 101 into the movable groove 108, causing the coupling agent level to rise and gradually submerge the detection holes 117. Each time a detection hole 117 is covered, one air replenishment channel is reduced, resulting in an increase in the negative pressure value within the detection groove 121. The more detection holes 117 are covered, the greater the negative pressure within the detection groove 121.

[0076] The negative pressure within the detection groove 121 acts on the elastic diaphragm 125, causing the elastic diaphragm 125 to indent into the detection groove 121, and driving the baffle 123 fixed thereto to move upward along the slot 126. As the baffle 123 moves upward, the previously blocked exhaust channels 122 (connecting the compression groove 115 and the transfer channel 118) are exposed sequentially from bottom to top. In this embodiment, the pressure relief valve 124 in the lowest exhaust channel 122 has the highest preset trigger pressure, decreasing sequentially upward. When the baffle 123 exposes only the first exhaust channel 122, the air pressure in the compression groove 115 must reach the high trigger pressure of the pressure relief valve 124 in that channel to open the exhaust; as the baffle 123 continues to move downward, more pressure relief valves 124 with lower trigger pressures are exposed sequentially, allowing the air pressure in the compression groove 115 to be released step by step.

[0077] The decrease in air pressure within the compression tank 115 directly reduces the contact pressure of the second ultrasonic probe 116 against the skin. Therefore, the higher the coupling agent level (the greater the negative pressure in the detection tank 121), the more the baffle 123 moves downward, the more exhaust channels 122 are opened, and the lower the probe pressure; conversely, the lower the coupling agent level, the higher the probe pressure. Through this purely mechanical negative feedback adjustment, the probe pressure is always optimally matched to the current coupling agent content, avoiding tissue deformation due to excessive pressure or poor acoustic coupling due to insufficient pressure.

[0078] Based on the target location, depth, and surrounding anatomical structures displayed in the 3D reconstructed image, the operator pre-plans the optimal needle insertion path. Then, the operator manually adjusts the puncture guide assembly: pushing the inner and outer rods of the deflection rod 3 to slide relative to each other, causing the cannula 2 to deflect around its rotational connection point with the carrier 1 to the desired angle. The encoder measures the deflection angle of the cannula 2 in real time and transmits it to the control module, providing a prompt on the display module for precise setting by the operator.

[0079] A puncture needle (such as a biopsy needle, drainage tube, or ablation electrode) is inserted into the guide groove 201 of the cannula 2 and then inserted into the skin along the direction of the guide groove 201. Since the axis of the cannula 2 is strictly coplanar with the acoustic beam plane of the first ultrasound probe 104, the entire long axis of the puncture needle remains within the imaging plane of the first ultrasound probe 104. The first ultrasound probe 104 acquires two-dimensional images containing the current spatial position, orientation, and tip position of the puncture needle in real time at a high frame rate.

[0080] The control module projects the real-time two-dimensional image onto the reconstructed three-dimensional ultrasound data in real time according to its spatial coordinates. The display module finally outputs the fused stereoscopic image: the three-dimensional background clearly shows the three-dimensional morphology of the target, blood vessels, nerves and other important structures; the real-time projected two-dimensional cross-sectional image dynamically displays the insertion depth, direction and relative position of the puncture needle to the target in a high-brightness or pseudo-color manner.

[0081] By observing the fused 3D ultrasound image on the display module, the operator can visually determine whether the puncture needle is advancing along the predetermined path. If the needle tip deviates from the target or may damage nearby important structures, the operator can immediately adjust the needle insertion direction or depth. Because the probe pressure has been automatically optimized to the optimal state by the system, the image remains clear and stable, without tissue deformation or artifact interference caused by pressure changes.

[0082] Throughout the puncture procedure, the second ultrasound probe 116 can continue scanning (or standby), constantly updating the three-dimensional background image to reflect the slight movement of the target position caused by the insertion of the puncture needle or the elastic recoil of the tissue; the first ultrasound probe 104 continuously tracks the needle body, ensuring that each frame of the projected image is strictly synchronized with the real-time position of the needle. The control module can also pause the scanning of the second ultrasound probe 116 and lock the current three-dimensional image according to the operator's needs, so as to reduce image refresh interference during the critical stages of the puncture and focus on the precise positioning of the needle tip.

[0083] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance, comprising a carrier (1) and a puncture guide assembly, the puncture guide assembly being used to provide puncture guidance for a puncture needle, characterized in that, The bottom of the carrier (1) is provided with a first ultrasonic probe (104), a second ultrasonic probe (116) and a driving mechanism. The sound beam planes emitted by the first ultrasonic probe (104) and the second ultrasonic probe (116) are orthogonally distributed. The first ultrasonic probe (104) and the puncture guide assembly are located in the same plane. The second ultrasonic probe (116) is slidably connected to the carrier (1). The driving mechanism is used to drive the second ultrasonic probe (116) to reciprocate. It also includes a control module and a display module. The control module is used to perform three-dimensional reconstruction based on the two-dimensional ultrasound image acquired by the second ultrasound probe (116), fit and generate a three-dimensional ultrasound image, and project the two-dimensional ultrasound image acquired by the first ultrasound probe (104) into the three-dimensional ultrasound image. The display module is used to display the three-dimensional ultrasound image generated by the control module.

2. The real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance according to claim 1, characterized in that, The puncture guide assembly includes a sleeve (2) disposed on one side of the carrier (1), a guide groove (201) is provided inside the sleeve (2), a ring (102) is detachably connected to the outer wall of the carrier (1), and a deflection rod (3) is provided between the ring (102) and the sleeve (2) to allow the sleeve (2) to deflect. The end of the deflection rod (3) away from the carrier (1) is fixedly connected to the sleeve (2).

3. The real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance according to claim 2, characterized in that, The carrier (1) has a movable groove (108) at its bottom. A second ultrasonic probe (116) is slidably connected to the movable groove (108). A first ultrasonic probe (104) separates the movable groove (108). The driving mechanism includes a disc (105) rotatably connected to the inner wall of the movable groove (108). A power component (107) is coaxially connected to the disc (105). The power component (107) is used to drive the disc (105) to rotate. A slide rod (114) is eccentrically connected to the disc (105). The movable groove (108) has a movable groove (108) at its bottom. 08) A sliding plate (112) is provided between the second ultrasonic probe (116) and the sliding plate (112). The sliding plate (112) is slidably engaged with the movable groove (108). The sliding plate (112) is slidably connected with the second ultrasonic probe (116). The sliding plate (112) and the sliding rod (114) correspond one-to-one. A sliding groove (113) is provided in the sliding plate (112). The sliding rod (114) is slidably engaged with the sliding groove (113). The control module is used to drive the power component (107) to make the disc (105) reciprocate within 180 degrees around its own center.

4. The real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance according to claim 3, characterized in that, The side wall of the active trough (108) is connected to several discharge ports (109), each discharge port (109) is connected to a collection chamber (103), and each discharge port (109) is equipped with a one-way discharge valve (110).

5. The real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance according to claim 4, characterized in that, It also includes a coupling agent replenishment mechanism; the coupling agent replenishment mechanism includes a number of injection ports (111) opened on the disc (105), each injection port (111) is connected to an annular groove (106), the annular groove (106) is connected to an injection chamber (101), and an injection pump is provided on the communication path between the injection chamber (101) and the annular groove (106), and the injection pump is electrically connected to the control module.

6. The real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance according to claim 5, characterized in that, Each of the slide plates (112) has a squeezing groove (115) at the bottom. The second ultrasonic probe (116) slides in conjunction with the squeezing groove (115). Each squeezing groove (115) is connected to an injection mechanism for supplying gas to the squeezing groove (115).

7. The real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance according to claim 6, characterized in that, A transfer channel (118) is connected to any side of the slide (113). The transfer channel (118) is connected to the outside. A throat (119) is connected inside the transfer channel (118). The throat (119) is connected to a detection groove (121) and several detection holes (117). The detection holes (117) are connected to the movable groove (108). A pressure regulating mechanism is provided inside the detection groove (121). The pressure regulating mechanism is used to adjust the contact pressure between the second ultrasonic probe (116) and the target area based on the pressure change inside the detection groove (121).

8. The real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance according to claim 7, characterized in that, The pressure control mechanism includes several exhaust channels (122) connected between the extrusion groove (115) and the transfer channel (118), and each exhaust channel (122) is connected to a pressure relief valve (124). A slot (126) is provided between the detection groove (121) and the exhaust channel (122). One end of the slot (126) is connected to the detection groove (121), and the other end of the slot (126) passes through all the exhaust channels (122). A baffle (123) is slidably fitted in the slot (126). An elastic membrane (125) is provided in the detection groove (121). The elastic membrane (125) is fixedly connected to the baffle (123). Initially, the baffle (123) blocks all the exhaust channels (122). When the negative pressure in the detection groove (121) gradually increases, the deformation of the elastic membrane (125) gradually increases, and the baffle (123) gradually moves away from the exhaust channel (122).

9. The real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance according to claim 8, characterized in that, Based on the triggered response sequence, the preset trigger pressure inside the pressure relief valve (124) gradually decreases.

10. The real-time stereoscopic ultrasound imaging puncture positioning probe for interventional guidance according to claim 9, characterized in that, The air injection mechanism includes an air pump for supplying air into the extrusion tank (115), and an air injection valve (120) is connected to the output end of the air pump and the extrusion tank (115) via a communication path.

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