Ultrasonic-guided vascular puncture path planning method, device and electronic equipment

Abstract

The application discloses an ultrasound-guided blood vessel puncture path planning method and device and electronic equipment, and relates to the technical field of computer-aided surgery planning. The method comprises the following steps: establishing a two-dimensional coordinate system based on an ultrasound image and obtaining blood vessel geometric parameters; determining a needle tip landing point candidate area and a theoretical recommended landing point according to clinical hard constraints; constructing a puncture path evaluation function, taking the minimization of the function as an objective, adopting a particle swarm optimization algorithm to globally search for an optimal needle tip landing point and a puncture angle, and accordingly analytically calculating an optimal skin puncture point. The application establishes an accurate mathematical model, fuses clinical hard constraints and flexible evaluation indexes, and adopts an optimization algorithm to realize optimal planning of the puncture path, so that the over-reliance on personal experience of operators is overcome, and the one-time success rate and safety of puncture operation are improved.

Description

Technical Field

[0001] This invention relates to the field of computer-aided surgical planning technology, and in particular to a method, apparatus and electronic device for ultrasound-guided vascular puncture path planning. Background Technology

[0002] Ultrasound-guided vascular puncture is a routine technique for establishing vascular access in clinical practice. It significantly improves the success rate of puncture by inserting the puncture needle into the target blood vessel under real-time ultrasound imaging, especially for patients with deep blood vessels, small blood vessels, or difficult anatomy.

[0003] However, current clinical practice heavily relies on the operator's personal experience and real-time hand-eye coordination. The operator must quickly determine the location, depth, and diameter of the blood vessel in dynamic images and mentally plan the insertion point, angle, and target landing point accordingly. This process has several inherent drawbacks: First, it is highly experience-dependent; different operators, and even the same operator in different situations, make subjective differences in decision-making, resulting in low standardization. Second, the planning process is more qualitative than quantitative, lacking objective and unified quantitative standards for optimal puncture angles and landing points. Third, it faces the challenge of balancing multiple objectives; for example, the needle tip must land within the blood vessel lumen to ensure successful puncture, but it cannot be too close to the distal wall to prevent penetration, and the position must also be considered to facilitate subsequent guidewire placement. These multiple requirements are often difficult to perfectly balance in an instant based solely on experience.

[0004] While some auxiliary measurement tools exist in existing technologies, such as the ranging and annotation functions on ultrasound equipment, they only provide basic geometric measurements and do not transform complex clinical experience and multi-objective constraints into a systematic, automated, and optimized decision-making algorithm. Therefore, developing an intelligent planning system that can integrate precise anatomical information and clinical expert experience to automatically generate quantitative and optimal puncture paths is urgently needed and of great value for reducing operational difficulty, standardizing procedures, improving first-needle success rates, and enhancing surgical safety. Summary of the Invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, the present invention provides an ultrasound-guided vascular puncture path planning method, device and electronic device, which aims to overcome the over-reliance on the operator's personal experience and improve the success rate and safety of puncture operation by establishing an accurate mathematical model, integrating clinical hard constraints and flexible evaluation indicators, and using optimization algorithms to achieve optimal planning of the puncture path.

[0006] One aspect of the present invention provides an ultrasound-guided method for planning vascular puncture pathways, comprising the following steps: To acquire a two-dimensional ultrasound image, a two-dimensional coordinate system is established with the skin surface point directly below the ultrasound probe as the origin, the X-axis as the direction parallel to the long axis of the ultrasound probe and the blood vessel axis, and the Y-axis as the direction perpendicular to the skin surface. Based on the ultrasound two-dimensional image, the location information of the vascular puncture target point, the vertical distance from the skin directly below the ultrasound probe to the upper wall of the blood vessel, and the diameter of the blood vessel are determined. Based on the location information of the vascular puncture target point, the vertical distance from the skin directly below the ultrasound probe to the upper wall of the blood vessel, the blood vessel diameter, and safety constraints, a candidate area for the needle tip landing point is determined, and the location information of the theoretically recommended landing point of the needle tip is determined from the candidate area. Based on the location information of the vascular puncture target point and the theoretically recommended landing point, a path evaluation function is constructed to comprehensively evaluate the candidate puncture path, using the needle tip landing point and puncture angle as optimization variables. With the goal of minimizing the path evaluation function, the particle swarm optimization algorithm is used to solve for the optimal needle tip landing point position information and the optimal puncture angle, and the optimal skin puncture point position information is calculated based on the optimal needle tip landing point position information and the optimal puncture angle.

[0007] In another aspect, the present invention provides an ultrasound-guided vascular puncture path planning device, comprising: The coordinate system construction module is used to acquire two-dimensional ultrasound images. It establishes a two-dimensional coordinate system with the skin surface point directly below the ultrasound probe as the origin, the X-axis as the direction along the long axis of the ultrasound probe and parallel to the blood vessel axis, and the Y-axis as the direction perpendicular to the skin surface. The vascular parameter calculation module is used to determine the location information of the vascular puncture target point, the vertical distance from the skin directly below the ultrasound probe to the upper wall of the blood vessel, and the blood vessel diameter based on the ultrasound two-dimensional image. The theoretical recommended landing point determination module is used to determine the candidate area of ​​the needle tip landing point based on the location information of the vascular puncture target point, the vertical distance from the skin directly below the ultrasound probe to the upper wall of the blood vessel, the blood vessel diameter, and safety constraints, and to determine the location information of the theoretical recommended landing point of the needle tip from the candidate area. The path evaluation function construction module is used to construct a path evaluation function that comprehensively evaluates candidate puncture paths based on the location information of the vascular puncture target point and the theoretically recommended landing point, using the needle tip landing point and puncture angle as optimization variables. The optimal puncture path calculation module is used to solve for the optimal needle tip landing point position information and the optimal puncture angle by using the particle swarm optimization algorithm with the goal of minimizing the path evaluation function, and to calculate the position information of the optimal skin puncture point based on the optimal needle tip landing point position information and the optimal puncture angle.

[0008] In another aspect, the present invention provides an electronic device including a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the above-described ultrasound-guided vascular puncture path planning method.

[0009] The ultrasound-guided vascular puncture path planning method, device, and electronic equipment provided by this invention have the following beneficial effects: (1) Anatomical parameters are automatically obtained through image processing and decisions are made based on mathematical models, providing surgeons with objective and quantitative path planning suggestions, which significantly reduces reliance on personal experience and helps to standardize operations.

[0010] (2) By constructing a comprehensive evaluation function for the path, the system systematically weighs multiple clinical objectives such as puncture safety (close to the center, far from the distal wall), operational feasibility (appropriate angle, reasonable puncture point offset) and the convenience of subsequent guidewire placement (close to the theoretically recommended landing point), thus solving the problem of the difficulty in balancing multiple objectives in an instant.

[0011] (3) By performing global optimization on the nonlinear path evaluation function, the puncture path with the best comprehensive performance under all hard constraints can be automatically searched and recommended, avoiding local optima and improving the quality and robustness of the planning results.

[0012] (4) It can quickly output complete planning results (including needle insertion point, angle, target point), guide the puncture robot to operate accurately, greatly improve the success rate of the first needle, and reduce complications caused by improper puncture. Attached Figure Description

[0013] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a flowchart illustrating an ultrasound-guided vascular puncture path planning method provided in one embodiment of this application. Figure 2 This is a schematic diagram of an ultrasonic two-dimensional coordinate system provided in one embodiment of this application; Figure 3 This is a schematic diagram of the structure of an ultrasound-guided vascular puncture path planning device provided in one embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] One embodiment of this application provides a method for planning vascular puncture paths under ultrasound guidance. Since the two-dimensional coordinate system, geometric model, constraints, and optimization objectives established by this method are all strictly dependent on and limited to the ultrasound imaging plane, both the theoretical path and the final planned path of the puncture needle are modeled as a straight line within this plane. Furthermore, the measurement, calculation, and optimization of all key parameters are completed based on the two-dimensional information within this plane. Simultaneously, the preset puncture angle range and the constraints and path evaluation designed to avoid the risk of distal wall penetration are all set for a puncture mode where the puncture needle is fully visible. Therefore, the path planning method provided in this embodiment is essentially designed and optimized for the specific operation mode of in-plane puncture under ultrasound guidance, and belongs to in-plane puncture path planning technology.

[0016] See Figure 1 The path planning method of the present invention includes the following steps: Step S101: Establish coordinate system and obtain key parameters.

[0017] To address the lack of a unified and precise mathematical description of ultrasound image space and to establish a common reference benchmark for all subsequent calculations, ensuring accuracy and consistency, this step aims to transform unstructured ultrasound images into a structured space suitable for precise mathematical calculations. See also... Figure 2 An ultrasound image is acquired, and a two-dimensional coordinate system is established with the point of contact between the ultrasound probe center and the skin as the origin O(0,0), the direction along the long axis of the ultrasound probe parallel to the blood vessel axis as the X-axis, and the direction perpendicular to the skin surface as the Y-axis. After this coordinate system is established, any point in the ultrasound image plane can be represented by unique coordinates (x, y). This achieves a mapping from the image pixel space to a computable geometric space.

[0018] Step S102: Calculate and measure the vascular parameters used for puncture.

[0019] See Figure 2 In the established two-dimensional coordinate system, the following key parameters are automatically measured using image processing algorithms (such as edge detection, region segmentation, etc.): (1) Vertical distance from skin to the upper wall of blood vessel This is the distance along the Y-axis from the origin O to the uppermost edge of the blood vessel lumen. This parameter directly reflects the depth of the blood vessel.

[0020] (2) The diameter of the blood vessel, D, can be obtained by direct measurement on the cross-sectional image of the blood vessel.

[0021] (3) Location information of the vascular puncture target point The geometric center of the blood vessel cross-section is usually chosen, and its mathematical expression is: .in, The coordinates of the vascular puncture target point on the X-axis can be obtained manually by analyzing ultrasound images based on experience. This characterizes the theoretical spatial center of the blood vessel within the imaging plane. During the optimization of the puncture path, Setting this as a core optimization target location carries clinical significance because, from a purely geometric and operational safety perspective, the closer the needle tip is to the target location... This means that the larger the safe buffer space between the vessel wall and the surrounding walls, the greater the tolerance for errors during the puncture procedure, thus minimizing the risk of accidental damage to the vessel wall. Therefore, in the subsequently constructed path evaluation function, As a key puncture guidance target, the path optimization algorithm aims to make the needle tip landing point as close as possible to the target while meeting strict clinical constraints. .

[0022] Step S103: Determine the candidate area for the needle tip's landing point and the theoretically recommended landing point for the needle tip.

[0023] In step S102, the location information of the vascular puncture target point has been determined. However, only location information is available. It's not enough, because As a key puncture guidance target, it can only ensure that the needle tip lands geometrically in the central region of the blood vessel lumen, but it cannot constrain the needle tip to maintain a safe distance from the distal vessel wall in the depth direction, nor can it reflect considerations for the convenience of subsequent guidewire antegrade placement. Therefore, it is necessary to add a safety margin value β and introduce a theoretically recommended needle tip landing point. To ensure that the needle tip lands within the basic safety space (close to) At the same time, it must be strictly located below the superior wall of the blood vessel and maintain a rigid safety distance of not less than βD from the distal wall, and further guided to a theoretically recommended landing point that facilitates smooth guidewire placement. Nearby. This approach allows for simultaneous assurance of both the safety of the puncture procedure and the accommodative nature of the guidewire operation during path planning, ultimately generating a comprehensive optimal path that is not only safe but also beneficial for subsequent guidewire placement.

[0024] To achieve the above objectives, this step uses the abscissa position information of the vascular puncture target point. The vertical distance from the skin directly below the ultrasound probe to the upper wall of the blood vessel. Blood vessel diameter Based on safety constraints, candidate regions for needle tip impact points are determined, and then the theoretically recommended impact point location information for the needle tip is determined from these candidate regions.

[0025] Specifically, the candidate region for needle tip impact points is defined by a set of hard constraints to ensure that all points within the region meet the basic safety standards for clinical procedures. Its mathematical expression is: ; ; ; in, The candidate region representing the point of impact of the needle tip; The x-coordinate variable representing the point where the needle tip lands; The vertical axis variable representing the point where the needle tip lands; This represents the normalized depth parameter within the blood vessel lumen; This indicates the vertical distance from the skin directly beneath the ultrasound probe to the upper wall of the blood vessel; Indicates the diameter of the blood vessel; The x-coordinate value of the vascular puncture target point; Indicates the safe radius on both sides of the horizontal direction of the vascular puncture target point; Indicates the safety margin.

[0026] Among them, horizontal safety constraints are This constraint requires that the horizontal position of the needle tip must not deviate from the x-coordinate of the vascular puncture target point. Preset safety radii on both sides . It is usually in a predetermined proportion to the diameter D of the blood vessel, preferably 0.3D, to prevent the needle tip from penetrating the side wall of the blood vessel.

[0027] Among them, deep security constraints are , Must satisfy 0 < ≤ 1-β. A safety margin β is introduced here, which can be determined empirically. β means that the formula for calculating the ordinate of the needle tip's landing point implicitly states that the needle tip must be located below the upper wall of the blood vessel, and its maximum depth is limited to... This ensures that a safe distance of at least βD is maintained between the needle tip and the distal vessel wall.

[0028] Therefore, the candidate region In reality, it is a region that maintains a safe distance of at least βD between the lumen of the blood vessel and the distal blood vessel wall, and is restricted in the horizontal direction.

[0029] Furthermore, after identifying the candidate regions Then, a theoretically recommended landing point is determined within this area. The theory recommends the following landing point. The purpose is to avoid the puncture needle getting too close to the distal vessel wall after the puncture, making it easier for the guidewire extending from the puncture needle to be interfered with by the distal vessel wall and difficult to insert along the vessel direction. As a preferred method, the theoretically recommended placement point is... x-coordinate Identified as a vascular puncture target x-coordinate The theoretical recommendation will be implemented. ordinate Identified as the target site for vascular puncture. ordinate Between and the proximal vessel wall, and satisfying the following conditions , 0.5 (i.e. ,and ).so The theoretical recommendation point is determined. Location in the depth direction of the blood vessel. When When the value is relatively small (close to 0), the theoretically recommended landing point is... Being close to the upper wall of the blood vessel facilitates the guidewire's movement in the direction of blood flow after puncture. When the value is relatively large (close to 0.5), the theoretically recommended landing point is... Located close to the center of the blood vessel, this provides maximum margin of error for the puncture procedure. (Through preset...) The algorithm of this invention can, under the premise of ensuring basic safety, appropriately favor the position that is conducive to the antegrade movement of the guidewire.

[0030] Step S104: Construct the path evaluation function.

[0031] This step aims to construct a path evaluation function that comprehensively evaluates candidate puncture paths, based on the location information of the vascular puncture target point and the theoretically recommended landing point, using the needle tip landing point and puncture angle as optimization variables. The path evaluation function can be expressed as: in, Represents the path evaluation function. This represents the position variable where the needle tip lands. Indicates the puncture angle variable; This represents the approximation guiding function used to guide the needle tip towards the vascular puncture target and the theoretically recommended landing point; This represents a risk suppression function used to mitigate the risk of the needle tip approaching or penetrating the distal vessel wall; This represents an angle adjustment function used to adjust the puncture angle to a preset preferred range; This represents the penalty function used to constrain the lateral offset of the skin puncture point.

[0032] Furthermore, approaching the guiding function It can be represented as: ; ,and ; in, This indicates the coordinates of the vascular puncture target point. This represents the theoretically recommended coordinates of the point where the needle tip lands, where = , The value is based on The value is determined. This represents the square of the straight-line distance between the current needle tip location and the target location for vascular puncture. This represents the square of the straight-line distance between the current position of the needle tip and the theoretically recommended position. and These are the weighting coefficients. This indicates the vertical distance from the skin directly beneath the ultrasound probe to the upper wall of the blood vessel. Indicates the diameter of the blood vessel. This represents the normalized depth parameter within the blood vessel lumen. Indicates the safety margin.

[0033] Approaching guiding function It is not mandatory for the needle tip to reach the target area. or Instead, it encourages the needle to land. Simultaneously approaching both targets. By adjusting... and It allows for flexible configuration and optimization strategies; if puncture safety is a greater priority, the risk can be increased. If the ease of guidewire antegrade is of greater importance, then increase This is achieved by approaching the guiding function. This achieves a balance between the two major goals of puncture safety and guidewire antegrade performance.

[0034] Furthermore, the risk inhibition function It can be represented as: in, This indicates that the penalty gain used to enhance high-risk areas can be obtained through simulation optimization and clinical experience. This indicates the distance from the point where the needle tip lands to the distal blood vessel wall; Indicates the safety threshold; This indicates the vertical distance from the skin directly beneath the ultrasound probe to the upper wall of the blood vessel; Indicates the diameter of the blood vessel; The vertical axis variable represents the point where the needle tip lands.

[0035] Risk suppression function Passing the security threshold A high-risk warning zone is established. When the needle tip enters this zone, a penalty is applied that increases sharply with decreasing distance. If the needle tip lands too close to the distal wall (entering the high-risk zone), The function value increases rapidly and non-linearly, creating optimization resistance and strongly driving the optimization algorithm to avoid this region. Furthermore, by retrospectively analyzing ultrasound images from a large number of successful puncture cases, the typical distance distribution between the needle tip and the distal vessel wall at successful needle insertion can be statistically analyzed. The lower limit of this distribution (e.g., the 5th percentile) or an empirically conservative safe distance can be used as the baseline. The benchmark value. More preferably, It is usually set to be greater than or equal to the minimum safe distance guaranteed by the hard constraint. ,Right now A typical rule of thumb is to take... ,in For example, a coefficient greater than 1 (e.g.) Therefore, the risk inhibition function With safety margin Collaboration constitutes a defense system, with a security margin By ensuring the basic safety of the needle tip landing point and eliminating physical danger points, the risk suppression function drives the optimization search to actively move away from the safety boundary, guiding the algorithm to converge towards the needle tip landing point region with a higher safety margin.

[0036] Furthermore, the angle adjustment function It can be represented as: ; ; in, This indicates a recommended reference angle; for example, in internal jugular vein puncture, numerous studies support 30°-45° as the preferred range. It can be set to 40°; This represents the penalty intensity value for controlling the angle deviation. If the setting is too large, the algorithm becomes insensitive to angle deviations and may output a value far from the desired angle. However, other puncture paths are superior in some aspects, if If the setting is too small, the algorithm will very strictly force the puncture angle towards... Approach; This indicates the minimum permissible puncture angle, usually determined by needle visibility and guidewire maneuverability. If the angle is too small, the needle will appear as a long line on the image, which is easy to track but may cause difficulty in needle insertion or obstruction of guidewire movement due to tissue resistance. Set the angle to no less than 20°-30°; This indicates the maximum permissible puncture angle, primarily determined by the safety of the posterior wall of the blood vessel and the operating space of the ultrasound probe. An excessively large angle, with the needle tip pointing towards the distal wall, significantly increases the risk of penetration and may also cause interference between the needle handle and the probe or skin, affecting the procedure. Generally, it should not be set beyond 60°.

[0037] Angle adjustment function By treating angle as an independent optimization variable and imposing a penalty, the algorithm is forced to consider the cost of angle when optimizing other objectives such as the needle's landing point. Angle adjustment function. Encourage an approach that is close to the most suitable in experience. The greater the deviation, the heavier the penalty. At the same time, hard boundaries... This ensures that the angle is within a reasonable operating range. This solves the problems that if the angle is too small, it will easily lead to slippage and difficulty in advancing the guide wire; if the angle is too large, it will easily penetrate the posterior wall and cause inconvenience in operation, thus optimizing the feasibility of the path.

[0038] Furthermore, the penalty function It can be represented as: in, Indicates the skin puncture point The x-axis variable, Indicates the skin puncture point x-coordinate The maximum acceptable absolute offset relative to the origin of the two-dimensional coordinate system.

[0039] penalty function This is used to penalize the horizontal offset of the puncture point relative to the origin of the coordinate system. If the puncture point is too far from the center of the ultrasound probe, it increases the difficulty of keeping the puncture needle within the ultrasound plane, affecting the stability and visibility of the procedure. Penalty function. The guidance algorithm prioritizes needle insertion points closer to the probe, thereby improving the success rate and ease of operation of in-plane punctures.

[0040] Step S105: Path solving and calculation based on particle swarm optimization.

[0041] This invention introduces the Particle Swarm Optimization (PSO) algorithm to efficiently and robustly search for path evaluation parameters. PSO simulates the cooperative foraging behavior of flocks of birds or schools of fish, finding the global optimum in a complex search space through the sharing and collaboration of individual and group information.

[0042] The specific solution process is as follows: Step S1051, optimize problem modeling.

[0043] Each candidate puncture path is mapped to a set of parameters, forming an optimized particle. The state vector of the particle is defined as follows: in, The coordinates of the point where the needle tip lands. The puncture angle is given. The search space for the particle swarm must satisfy the following condition: the needle tip must fall within the candidate region. Inside, and the puncture angle meets the requirements. .

[0044] Step S1052, define the fitness function.

[0045] The constructed path evaluation function The fitness function is directly used to evaluate the quality of each particle (i.e., each puncture path). In the PSO framework, a smaller fitness value indicates a better overall evaluation of the puncture path. Therefore, the path optimization problem is formalized as: That is, within the allowed search space, find the path evaluation function. The parameter that takes the minimum value Number Combinations .

[0046] Step S1053, particle swarm evolution mechanism.

[0047] The algorithm initializes a swarm of random particles (i.e., randomly generates multiple sets of puncture path parameters that meet the conditions). Each particle iteratively updates its position and velocity in the search space based on its own historical experience and the social experience of the group.

[0048] Speed ​​update formula: Position update formula: in: , They represent the first Particles in iteration Position and velocity; , They represent the first Particles in iteration Position and velocity; For particles The individual's best position in history (corresponding to the path parameters with the best fitness it has experienced). This is the globally optimal position found in the entire particle swarm (corresponding to the path parameter with the best fitness among all particles). Inertial weights control the tendency of particles to inherit previous velocities; The learning factor is used to adjust the step size of the particle as it flies towards the individual optimal and global optimal directions, respectively. A random number within the interval (0,1) is used to introduce randomness into the search; After each iteration, the new position of the particle is subject to boundary constraints, such as removing particles that exceed the boundary limits. The parameters of the angular range are projected or pulled back to the feasible domain boundary to ensure that the paths represented by all particles always meet the basic clinical safety and feasibility constraints.

[0049] Step S1054: Iterative convergence and result output.

[0050] As iterations proceed, guided by both individual optimal and global optimal information, the overall distribution of the particle swarm gradually converges towards the path evaluation function. The particle swarm aggregates and converges in the low-value region (i.e., the region of high-quality path parameters). When the change in the global optimal fitness value of the particle swarm over multiple iterations is less than a preset minimum threshold, or when the number of iterations reaches a preset maximum value... The optimization process terminates at that point.

[0051] At this point, the state vector corresponding to the globally optimal particle This is determined to be the optimal path parameter.

[0052] Furthermore, in a two-dimensional ultrasound imaging plane coordinate system, the puncture path can be derived from the skin puncture point. and puncture angle The only certainty is the puncture path. The parameterized expression is: in, It is the length along the puncture direction.

[0053] Let the final selected optimal needle tip landing point be... To ensure the needle tip accurately reaches the landing point, the following must be satisfied: in, It is the insertion of the puncture needle through the skin and reaching the target point. The actual puncture depth.

[0054] From this, the optimal skin puncture point can be deduced. The coordinates are: ; ; in, The x-coordinate represents the optimal skin puncture point. The ordinate represents the optimal skin puncture point. The x-coordinate represents the optimal needle tip landing point. The ordinate represents the optimal needle tip landing point. Indicates the optimal puncture angle. This represents the cotangent value of the optimal puncture angle.

[0055] Therefore, by solving the path evaluation function, the optimal needle tip location and optimal puncture angle can be obtained. Substituting these optimal values ​​into the formula for calculating the optimal skin puncture point coordinates yields the optimal skin puncture point coordinates. In this way, the optimal needle tip location, optimal puncture angle, and optimal skin puncture point coordinates are all obtained, uniquely defining an optimal puncture path.

[0056] This step introduces a particle swarm optimization algorithm to achieve a global optimization search for the path evaluation function. This method operates within a strictly constrained low-dimensional space, exhibiting fast convergence and high result stability, ensuring reliable finding of the comprehensive optimal solution that satisfies all clinical constraints and preferences under different initial conditions.

[0057] See Figure 3 Another embodiment of the present invention provides an ultrasound-guided vascular puncture path planning device 200, including a coordinate system construction module 201, a vascular parameter calculation module 202, a theoretically recommended landing point determination module 203, a path evaluation function construction module 204, and an optimal puncture path calculation module 205. This ultrasound-guided vascular puncture path planning device 200 can execute the ultrasound-guided vascular puncture path planning method in the method embodiment.

[0058] Specifically, the ultrasound-guided vascular puncture path planning device 200 includes: The coordinate system construction module 201 is used to acquire two-dimensional ultrasound images. A two-dimensional coordinate system is established with the skin surface point directly below the ultrasound probe as the origin, the X-axis as the direction along the long axis of the ultrasound probe and parallel to the blood vessel axis, and the Y-axis as the direction perpendicular to the skin surface. The vascular parameter calculation module 202 is used to determine the location information of the vascular puncture target point, the vertical distance from the skin directly below the ultrasound probe to the upper wall of the blood vessel, and the blood vessel diameter based on the ultrasound two-dimensional image. The theoretical recommended landing point determination module 203 is used to determine the candidate area of ​​the needle tip landing point based on the location information of the vascular puncture target point, the vertical distance from the skin directly below the ultrasound probe to the upper wall of the blood vessel, the blood vessel diameter and safety constraints, and determine the location information of the theoretical recommended landing point of the needle tip from the candidate area; The path evaluation function construction module 204 is used to construct a path evaluation function for comprehensively evaluating candidate puncture paths based on the location information of the vascular puncture target point and the theoretically recommended landing point, using the needle tip landing point and puncture angle as optimization variables. The optimal puncture path calculation module 205 is used to solve for the optimal needle tip landing point position information and the optimal puncture angle by using the particle swarm optimization algorithm with the goal of minimizing the path evaluation function, and to calculate the position information of the optimal skin puncture point based on the optimal needle tip landing point position information and the optimal puncture angle.

[0059] It should be noted that the ultrasound-guided vascular puncture path planning device 200 provided in this embodiment can be used to execute the technical solutions of each method embodiment. Its implementation principle and technical effect are similar to the method, and will not be repeated here.

[0060] See Figure 4 Another embodiment of the present invention provides a schematic diagram of an electronic device 300. This electronic device 300 is used to implement the ultrasound-guided vascular puncture path planning method in the method embodiment. The electronic device 300 in the embodiments of the present invention may include, but is not limited to, PCs, smartphones, tablets, PDAs, and servers. Figure 4 The electronic device 300 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0061] like Figure 4As shown, the electronic device 300 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 301, which can perform various appropriate actions and processes to implement the methods of the embodiments described herein, based on a program stored in a read-only memory (ROM) 302 or a program loaded from a storage device 308 into a random access memory (RAM) 303. The RAM 303 also stores various programs and data required for the operation of the electronic device 300. The processing device 301, ROM 302, and RAM 303 are interconnected via a bus 305. An input / output (I / O) interface 304 is also connected to the bus 305.

[0062] Typically, the following devices can be connected to I / O interface 304: input devices 306 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 307 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 308 including, for example, magnetic tapes, hard disks, etc.; and communication devices 309. Communication device 309 allows electronic device 300 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 An electronic device 300 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0063] The above description is merely a preferred embodiment of the present invention. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to the specific combination of the above-described technical features, but should also cover other technical solutions formed by any combination of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A method for planning vascular puncture pathways under ultrasound guidance, characterized in that, Includes the following steps: To acquire a two-dimensional ultrasound image, a two-dimensional coordinate system is established with the skin surface point directly below the ultrasound probe as the origin, the X-axis as the direction parallel to the long axis of the ultrasound probe and the blood vessel axis, and the Y-axis as the direction perpendicular to the skin surface. Based on the ultrasound two-dimensional image, the location information of the vascular puncture target point, the vertical distance from the skin directly below the ultrasound probe to the upper wall of the blood vessel, and the diameter of the blood vessel are determined. Based on the location information of the vascular puncture target point, the vertical distance from the skin directly below the ultrasound probe to the upper wall of the blood vessel, the blood vessel diameter, and safety constraints, a candidate area for the needle tip landing point is determined, and the location information of the theoretically recommended landing point of the needle tip is determined from the candidate area. Based on the location information of the vascular puncture target point and the theoretically recommended landing point, a path evaluation function is constructed to comprehensively evaluate the candidate puncture path, using the needle tip landing point and puncture angle as optimization variables. With the goal of minimizing the path evaluation function, the particle swarm optimization algorithm is used to solve for the optimal needle tip landing point position information and the optimal puncture angle, and the optimal skin puncture point position information is calculated based on the optimal needle tip landing point position information and the optimal puncture angle.

2. The ultrasound-guided vascular puncture path planning method according to claim 1, characterized in that, The candidate region for needle tip impact points is determined using the following formula: ； ； ； in, The candidate region representing the point of impact of the needle tip; The x-coordinate variable representing the point where the needle tip lands; The vertical axis variable representing the point where the needle tip lands; This represents the normalized depth parameter within the blood vessel lumen; This indicates the vertical distance from the skin directly beneath the ultrasound probe to the upper wall of the blood vessel; Indicates the diameter of the blood vessel; The x-coordinate value of the vascular puncture target point; Indicates the safe radius on both sides of the horizontal direction of the vascular puncture target point; Indicates the safety margin.

3. The ultrasound-guided vascular puncture path planning method according to claim 2, characterized in that, The path evaluation function is: in, Represents the path evaluation function. This represents the position variable where the needle tip lands. Indicates the puncture angle variable; This represents the approximation guiding function used to guide the needle tip towards the vascular puncture target and the theoretically recommended landing point; This represents a risk suppression function used to mitigate the risk of the needle tip approaching or penetrating the distal vessel wall; This represents an angle adjustment function used to adjust the puncture angle to a preset preferred range; This represents the penalty function used to constrain the lateral offset of the skin puncture point.

4. The ultrasound-guided vascular puncture path planning method according to claim 3, characterized in that, The approximate guiding function value is calculated using the following formula: ； ,and ; in, This indicates the coordinates of the vascular puncture target point. This represents the theoretically recommended coordinates of the point where the needle tip lands, where = , The value is based on The value is determined. This represents the square of the straight-line distance between the current needle tip location and the target location for vascular puncture. This represents the square of the straight-line distance between the current position of the needle tip and the theoretically recommended position. and These are the weighting coefficients. This indicates the vertical distance from the skin directly beneath the ultrasound probe to the upper wall of the blood vessel. Indicates the diameter of the blood vessel. This represents the normalized depth parameter within the blood vessel lumen. Indicates the safety margin.

5. The ultrasound-guided vascular puncture path planning method according to claim 4, characterized in that, The risk suppression function value is calculated using the following formula: in, This indicates a penalty gain used to enhance high-risk areas. This indicates the distance from the point where the needle tip lands to the distal blood vessel wall. Indicates the safety threshold. This indicates the vertical distance from the skin directly beneath the ultrasound probe to the upper wall of the blood vessel. Indicates the diameter of the blood vessel. The vertical axis variable represents the point where the needle tip lands.

6. The ultrasound-guided vascular puncture path planning method according to claim 5, characterized in that, The angle adjustment function value is calculated using the following formula: ； ； in, This indicates the recommended reference angle. This represents the penalty intensity value for controlling the angle deviation. This indicates the minimum permissible puncture angle. This indicates the maximum permissible puncture angle.

7. The ultrasound-guided vascular puncture path planning method according to claim 6, characterized in that, The penalty function value is calculated using the following formula: in, The x-axis variable represents the skin puncture point. express The maximum acceptable absolute offset relative to the origin of the two-dimensional coordinate system.

8. The ultrasound-guided vascular puncture path planning method according to claim 7, characterized in that, The coordinates of the optimal skin puncture point are calculated using the following formula: ； ； in, This represents the x-coordinate of the optimal skin puncture point. The ordinate represents the optimal skin puncture point. The x-coordinate represents the optimal point of impact of the needle tip. The ordinate represents the optimal needle tip landing point. Indicates the optimal puncture angle. This represents the cotangent value of the optimal puncture angle.

9. A device for planning vascular puncture pathways under ultrasound guidance, characterized in that, include: The coordinate system construction module is used to acquire two-dimensional ultrasound images. It establishes a two-dimensional coordinate system with the skin surface point directly below the ultrasound probe as the origin, the X-axis as the direction along the long axis of the ultrasound probe and parallel to the blood vessel axis, and the Y-axis as the direction perpendicular to the skin surface. The vascular parameter calculation module is used to determine the location information of the vascular puncture target point, the vertical distance from the skin directly below the ultrasound probe to the upper wall of the blood vessel, and the blood vessel diameter based on the ultrasound two-dimensional image. The theoretical recommended landing point determination module is used to determine the candidate area of ​​the needle tip landing point based on the location information of the vascular puncture target point, the vertical distance from the skin directly below the ultrasound probe to the upper wall of the blood vessel, the blood vessel diameter, and safety constraints, and to determine the location information of the theoretical recommended landing point of the needle tip from the candidate area. The path evaluation function construction module is used to construct a path evaluation function that comprehensively evaluates candidate puncture paths based on the location information of the vascular puncture target point and the theoretically recommended landing point, using the needle tip landing point and puncture angle as optimization variables. The optimal puncture path calculation module is used to solve for the optimal needle tip landing point position information and the optimal puncture angle by using the particle swarm optimization algorithm with the goal of minimizing the path evaluation function, and to calculate the position information of the optimal skin puncture point based on the optimal needle tip landing point position information and the optimal puncture angle.

10. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements a method for planning vascular puncture path under ultrasound guidance as described in any one of claims 1-8.

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