A puncture needle pose determination device, a puncture device, an electronic device, and a storage medium

Abstract

The application discloses a puncture needle position determination device, a puncture device, an electronic device and a storage medium. A processor acquires the positions of a puncture target point and a needle entry point, determines a virtual marker point corresponding to a needle body marker point on an extension line of a body surface connecting the two points, and determines the intersection of a projection light ray passing through the virtual marker point and a reference plane as a projection guide point. The processor generates projection control information containing the needle entry point and the projection guide point, and a projection device projects a corresponding projection pattern according to the information. The needle entry point is used for aligning the tip of the puncture needle, and the corresponding projection light ray is used for shielding the needle body marker point, so that the tip of the puncture needle and the marker point jointly define the puncture needle position. Thus, a three-dimensional puncture direction is converted into two position constraints that can be observed on the body surface.

Description

Technical Field

[0001] This application relates to the fields of medical devices and medical image processing technology, and in particular to a puncture needle position determination device, puncture device, electronic device and storage medium. Background Technology

[0002] Existing projection-assisted puncture methods typically project a fixed needle insertion point onto the body surface to indicate the position of the needle tip. A single insertion point can only provide a positional constraint; when the puncture path is inclined relative to the normal to the body surface, even if the needle tip is at the correct insertion point, the puncture needle can still form multiple different spatial orientations around that point, thus making it impossible to determine whether the needle axis coincides with the pre-planned puncture path. Continuously monitoring the complete spatial pose of the puncture needle to obtain its orientation usually requires additional imaging, tracking, or mechanical guidance, increasing equipment calibration and operational complexity. Therefore, when there is an undesirable target object in the insertion path, the insertion point must be changed and the operation repeated, or an inclined insertion method must be used. However, traditional techniques can only provide a two-dimensional plane insertion point marker and cannot determine the puncture angle and path of the puncture direction inclined relative to the normal to the reference plane. The technical problem to be solved is: how to use existing projection devices to convert the three-dimensional inclined direction determined by the puncture target point and the insertion point into a pose constraint that can be directly observed on the body surface, so as to simultaneously define the needle tip position and the needle orientation. Summary of the Invention

[0003] This application proposes a puncture needle position determination device, puncture equipment, electronic equipment, and storage medium. It focuses on the integrated application of projection technology and precise spatial angle calculation method to solve the problem of not being able to determine the puncture angle and path of the puncture direction that is tilted relative to the normal direction of the reference plane. It is especially suitable for providing a precise and efficient guidance scheme for clinical puncture operations and is applicable to various urological puncture scenarios that require precise positioning.

[0004] In a first aspect, this application proposes a device for determining the position of a puncture needle. The puncture needle has marking points on its body. The device includes a processor and a projection device disposed outside the body surface. The processor is communicatively connected to the projection device. The processor is configured to:

[0005] Obtain the location of the puncture target point in the target area and the location of the needle insertion point determined in the reference plane;

[0006] A virtual marker point and the intersection of the virtual marker point and the reference plane are determined on the extension line formed by extending the line connecting the puncture target point and the needle insertion point outward from the body surface.

[0007] The projection device is configured to project a projection pattern onto the reference plane to mark the needle entry point and the intersection point as the projection guide point.

[0008] The needle insertion point is used to guide the needle tip of the puncture needle to be aligned, and the projected light rays projected onto the projection guide point are used to block the marking points on the needle body so that the axis of the puncture needle defined by the needle tip and the marking points coincides with the line connecting the puncture target point and the needle insertion point.

[0009] In this scheme, the line connecting the puncture target point and the needle insertion point determines the target direction; the extension of this line on the body surface defines the spatial range of the virtual marker point; the projected ray passing through the virtual marker point determines the projection guide point on the body surface; and the projection control information then makes this geometric relationship form an observable projection ray. The needle insertion point is used to define the needle tip position, and the occlusion relationship between the needle body marker point and the projection ray projected to the projection guide point defines another spatial position on the needle body. Since the needle tip and the needle body marker point are two different points on the axis of the puncture needle, when they satisfy their respective constraints, the axis of the puncture needle can coincide with the line connecting the puncture target point and the needle insertion point, thus transforming the problem that a single body surface point cannot define the tilt direction into two interrelated spatial position constraints. The projection guide point is not a simple display of the puncture target point, the needle insertion point, or existing images, but is jointly determined by the line connecting the puncture target point and the needle insertion point, the virtual marker point on this line, and the intersection relationship between the projection ray and the reference plane.

[0010] In one embodiment of the first aspect of this application, preferably, the target region is the prostate, and the processor is further configured to: plan a puncture target point, comprising the steps of: acquiring cross-sectional and / or sagittal images of the prostate acquired by a transrectal ultrasound probe, receiving input to select a puncture target point in the cross-sectional and / or sagittal images, and converting the pixel coordinates of the puncture target point into spatial coordinates.

[0011] In one embodiment of the first aspect of this application, preferably, the reference plane is a reference plane corresponding to the perineal puncture area; the transrectal ultrasound probe has a longitudinal central axis extending from its proximal end to its distal end, and when the transrectal ultrasound probe is in a preset working position, the normal direction of the reference plane is parallel to the longitudinal central axis; the line connecting the puncture target point and the needle insertion point has an angle with the normal direction of the reference plane.

[0012] In one embodiment of the first aspect of this application, preferably, the projection device is further configured to project the planned puncture target onto the reference plane, or to superimpose the cross-sectional image with the planned puncture target onto the reference plane.

[0013] In one embodiment of the first aspect of this application, preferably, the processor is further configured to adjust the scaling ratio of the projection pattern according to the difference between the current ultrasound imaging depth and the preset baseline depth to match the size of the actual imaging area.

[0014] In one embodiment of the first aspect of this application, preferably, the processor is further configured to establish a pixel spatial correspondence between the transverse image and the sagittal image based on the image sequence and the position and angle information of the transrectal ultrasound probe when acquiring each frame of the image.

[0015] In one embodiment of the first aspect of this application, preferably, the processor is further configured to retrieve multiple cross-sectional and / or sagittal images along the puncture path based on the positions of the needle insertion point and the puncture target point, and control the display terminal to display the retrieved images.

[0016] In one embodiment of the first aspect of this application, preferably, the processor is further configured to identify the puncture needle from real-time acquired cross-sectional and / or sagittal images, determine its deviation relative to the line connecting the puncture target and the needle insertion point, and output a prompt message when the deviation exceeds a preset range.

[0017] In one embodiment of the first aspect of this application, preferably, the processor is further configured to control the needle body to continuously block the projected light at the intersection during the travel of the puncture needle.

[0018] Secondly, this application also proposes a puncture device, including a puncture needle supported by a puncture frame and a puncture needle position determination device as described in any embodiment of the first aspect of this application.

[0019] The puncture frame is used to position the puncture needle on the extension line, so that the tip of the puncture needle is located at the needle insertion point, the needle body passes through the virtual marker point, and at the same time, the needle body at the virtual marker point blocks the projected light at the intersection point.

[0020] Preferably, the device further includes a transrectal ultrasound probe and an ultrasound stepper connected to the transrectal ultrasound probe; the ultrasound stepper is configured to drive the transrectal ultrasound probe to translate and / or rotate, and the processor is further configured to associate and store each frame of the transverse image sequence and / or sagittal image sequence with the position of the ultrasound stepper and the angle of the transrectal ultrasound probe when the frame of the image is acquired.

[0021] Preferably, the projection angle and projection distance of the projection device are adjustable; the processor is configured to convert the needle entry point and projection guide point into pixel coordinates in the projected image of the projection device according to the calibration relationship between the projection device and the reference plane.

[0022] Preferably, the puncture device further includes a display terminal that is communicatively connected to the processor. The display terminal is configured to display cross-sectional and / or sagittal images of the target area, as well as the pose information and deviation indication information of the puncture needle relative to the line connecting the puncture target point and the needle insertion point.

[0023] In the above image planning embodiment, the pixel coordinates of the puncture target point are spatially transformed and used in the calculation of the line connecting the puncture target point and the needle insertion point, ensuring that the planning result in the image uses the same spatial relationship as the surface projection guidance. A preset positional relationship between the longitudinal central axis of the transrectal ultrasound probe and the normal direction of the perineal reference plane establishes a spatial association between the ultrasound image coordinate system and the surface projection coordinate system; the angle between the connecting line and the normal direction further defines the inclined puncture direction. Therefore, image point selection is not an isolated display operation, but rather the data source for subsequent calculations of virtual marker points and projection guidance points.

[0024] In the above dual-plane imaging embodiment, each frame of image is stored in association with the probe position and angle, thereby establishing a pixel spatial correspondence between the transverse and sagittal images. The retrieval of images along the line connecting the puncture target and the needle insertion point is based on this correspondence, enabling the operator to verify spatial information of different planes around the same target direction, rather than browsing unrelated two-dimensional images separately.

[0025] In a further defined embodiment, a preset distance between the needle body marker and the needle tip is used to determine the specific position of the virtual marker on the extension line of the body surface; the calibration relationship between the projection device and the reference plane and the optical parameters of the projection device are used to convert the projected light rays passing through the virtual marker into pixel coordinates in the projected image. The above limitations respectively provide a physical reference for the needle body and an optical mapping reference, which can serve as a further precise implementation of the directional constraint described in the independent claim.

[0026] In one implementation of the first aspect, the puncture needle pose determination device can be divided into an input module, a determination module, a control module, a data module, and a projection module according to the functions executed by the processor. Each module can be implemented by the processor running corresponding program instructions, or by dedicated hardware or a combination of hardware and software.

[0027] The input module is used to obtain the position of the pre-determined puncture target point in the target area and the position of the needle insertion point in the reference plane;

[0028] The determination module is used to determine a virtual marker point on the extension line formed by extending the line connecting the puncture target point and the needle insertion point outward to the body surface, and to determine the intersection of the projected light ray with the reference plane after passing through the virtual marker point as the projection guide point.

[0029] The control module is used to generate projection control information including the needle entry point and projection guide point, and to control the projection device to project the corresponding projection pattern onto the reference plane.

[0030] The data module is used to establish the pixel spatial correspondence between the transverse and sagittal images based on the sequence of transverse and sagittal images of the target area and the position and angle information of the transrectal ultrasound probe when acquiring each frame of images.

[0031] The projection module is used to project the puncture target onto the reference plane, or to superimpose the cross-sectional image with the puncture target onto the reference plane, and adjust the scaling ratio of the projection pattern according to the current ultrasound imaging depth.

[0032] Thirdly, this application also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor. The computer program includes instructions for causing the processor to perform the following functions: acquiring a predetermined position of a puncture target point in a target area and a position of a needle insertion point in a reference plane; determining a virtual marker point corresponding to a marker point on the puncture needle body on an extension line formed by extending the line connecting the puncture target point and the needle insertion point outwards from the body surface, and determining the intersection of the projected light ray after passing through the virtual marker point and the reference plane as a projection guide point; generating projection control information containing the needle insertion point and the projection guide point, and sending the projection control information to a projection device to cause the projection device to project a projection pattern marking the needle insertion point and the projection guide point onto the reference plane.

[0033] Fourthly, this application also proposes a computer-readable storage medium storing a computer program thereon. The computer program includes instructions for causing the processor to perform the following functions: acquiring a predetermined position of a puncture target point in a target area and a position of a needle insertion point in a reference plane; determining a virtual marker point corresponding to a marker point on the puncture needle body on an extension line formed by extending the line connecting the puncture target point and the needle insertion point outwards from the body surface, and determining the intersection of the projected light ray after passing through the virtual marker point and the reference plane as a projection guide point; generating projection control information containing the needle insertion point and the projection guide point, and sending the projection control information to a projection device to cause the projection device to project a projection pattern marking the needle insertion point and the projection guide point onto the reference plane.

[0034] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects:

[0035] First, a complete closed loop is formed from planning data to physical projection constraints. The line connecting the puncture target point and the needle insertion point determines the target direction, the virtual marker point on the extended line on the body surface determines the spatial position corresponding to the directional constraint, and the projection guide point is then used to form the actual projected light ray; the calculation results can directly drive the subsequent physical constraints, rather than remaining at the path display level.

[0036] Second, it achieves the division of labor and synergy between positional and directional constraints. The needle insertion point defines the location of the needle tip, while the occlusion relationship between the needle body marker and the projected light ray defines another location on the axis; the two constraints together determine the axis of the puncture needle, overcoming the deficiency that a single needle insertion point cannot determine the tilt angle.

[0037] Third, it reduces the reliance on real-time tracking of the complete spatial pose. The directional constraint is formed using existing optical paths of markers with defined distances on the needle and a projection device, eliminating the need to continuously reconstruct the complete three-dimensional model of the puncture needle during the pose calibration stage. This helps reduce the impact of additional tracking hardware, field-of-view occlusion, and repetitive calibration. Attached Figure Description

[0038] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0039] Figure 1 This is a schematic diagram of the equipment and system used in the application scenario of this application;

[0040] Figure 2 This is a data processing flowchart of the puncture needle position determination device of this application;

[0041] Figure 3 This is a schematic diagram for calculating the needle insertion angle;

[0042] Figure 4 A schematic diagram for calculating the projection guide point;

[0043] Figure 5 This application describes the process of inputting planning information and outputting pose guidance information.

[0044] Figure 6 This is an embodiment of the puncture needle position determination device of this application;

[0045] Figure 7 This is a system embodiment of the puncture device of this application;

[0046] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0049] Figure 1 This is a schematic diagram of the equipment and system used in the application scenario of this application.

[0050] The projection device 11 is equipped with a projector with adjustable light source intensity and projection angle, a resolution of not less than 640×480, and a projection distance that can be adjusted within the range of 20-40cm. It is used to project prostate images and puncture guidance marks onto the body surface reference plane corresponding to the puncture area of ​​the patient's perineum.

[0051] An ultrasound device includes a transrectal ultrasound probe 12 and an ultrasound stepper connected to the transrectal ultrasound probe 12. The ultrasound stepper supports translational and rotational movements, and the translational and rotational speeds can be set according to the image acquisition mode. For example, the translational speed can be 1-10 mm / s and the rotational speed can be 1-10° / s, used to acquire prostate images and record spatial pose parameters.

[0052] The operating terminal 13 is a computer with a touch screen, pre-installed with image processing and projection control software, which supports doctors in planning puncture targets, viewing real-time images and positions;

[0053] The puncture frame is adjustable in terms of front-to-back distance, left-to-right position, and pitch angle. It is used to fix the ultrasonic stepper and lock the transrectal ultrasound probe on the ultrasonic stepper, thereby fixing the relative position of the transrectal ultrasound probe and the puncture needle 14.

[0054] Figure 2 This is a flowchart illustrating the data processing of the puncture needle pose determination device of this application. As an example, the processor can execute the data processing steps 210-240 as shown:

[0055] Step 210: Determine the location of the puncture target point in the target area.

[0056] The processor can acquire transverse and / or sagittal images of the prostate obtained by a transrectal ultrasound probe, receive input to select one or more puncture target points in the images, and convert the pixel coordinates of the puncture target points into spatial coordinates.

[0057] For example, the operator can select puncture target points on transverse and / or sagittal images using the operating terminal 13. The operating terminal sends the selected point input to the processor, which records the pixel coordinates of each puncture target point and calculates the corresponding spatial coordinates based on the correlation between the image frame and the ultrasound probe pose. Taking the prostate as the target area, multiple puncture target points can be selected in the left and right lobes of the gland, respectively. Both the puncture target points and the needle insertion point serve as input data for the device, and the purpose of the device's data processing is to generate puncture needle pose guidance information.

[0058] During the puncture planning stage and before the puncture, the device can acquire or read prostate imaging sequences, project cross-sectional images containing the needle insertion point onto a reference plane corresponding to the puncture area in the patient's perineum, and generate spatial pose guidance information suitable for inclined puncture based on projection-assisted positioning.

[0059] Preferably, the planned puncture target point is projected onto the reference plane 15, or the cross-sectional image and the planned puncture target point are superimposed and then projected onto the reference plane. Target point markers are displayed at the projection position. The reference plane 15 is a reference plane corresponding to the perineal puncture area of ​​the patient; when the transrectal ultrasound probe is in a preset working position, the normal direction of the reference plane is parallel to the longitudinal central axis of the transrectal ultrasound probe.

[0060] The "longitudinal central axis" of the transrectal ultrasound probe referred to in this article is the geometric center line extending from the proximal to the distal end of the transrectal ultrasound probe. When the transrectal ultrasound probe is mounted on an ultrasonic stepper or puncture frame, the longitudinal central axis can be determined based on the probe's mounting reference, the translational direction of the ultrasonic stepper, and / or the pre-calibrated probe pose.

[0061] In a transperineal prostate puncture scenario, the reference plane is a plane corresponding to the perineal puncture area and used to receive the projected pattern. Since the perineal skin may have curvature, the reference plane does not require the actual skin surface to be a strictly geometric plane. Instead, it can be a local sectional plane of the perineal puncture area skin, a reference plane fitted based on multiple surface points of the puncture area, or the plane containing the projection receiving medium set on the perineal skin surface.

[0062] When the transrectal ultrasound probe is in a preset working position, it is preferable to make the normal direction of the reference plane parallel to the longitudinal central axis of the transrectal ultrasound probe, so as to establish a definite spatial relationship between the transrectal ultrasound image coordinate system and the perineal projection coordinate system, thereby converting the puncture target point determined in the image to the body surface projection coordinate system, and calculating the needle insertion point, virtual marker point and projection guide point.

[0063] In other embodiments, the normal direction of the reference plane may not be parallel to the longitudinal central axis of the transrectal ultrasound probe. In this case, the rotation and translation transformation relationship between the transrectal ultrasound probe coordinate system and the reference plane coordinate system can be obtained through pre-calibration, and the coordinate transformation of the puncture target point, needle insertion point, virtual marker point, and projection guide point can be completed according to the transformation relationship.

[0064] It is understandable that in order to achieve the correct projection scale, it is necessary to adjust the projection device, including adjusting its pitch angle, left and right position, front and back distance, and the fixed distance between the projection light source and the reference plane.

[0065] In one embodiment of this application, a spatial correspondence between pixels in cross-sectional and sagittal images is generated based on the image sequence to achieve point indexing between the two plane images. This includes: in response to selecting a point in any plane, indexing and displaying the image of the other plane at that point's location. For example, when a doctor clicks on a point of interest (such as the center of a glandular lesion area) on the sagittal image of the operating terminal 13, the software automatically indexes the corresponding cross-sectional image (such as the largest cross-sectional image of the lesion area) based on the established dual-plane pixel correspondence, and sends the cross-sectional image to the projection device to project it onto the reference plane corresponding to the patient's perineal puncture area.

[0066] Once each target point is planned, the software can immediately overlay the target point marker onto the corresponding projection image and simultaneously project it onto the reference plane corresponding to the perineal puncture area. For example, the planned target point 1 corresponds to projection point P1, and target point 2 corresponds to projection point P2.

[0067] In one embodiment of this application, preferably, the scaling ratio of the projected image is dynamically adjusted based on the difference between the current ultrasound depth and a preset baseline depth to match the actual gland size. A baseline depth (basic_depth) is set; if the current ultrasound depth is greater than basic_depth, the projected image is enlarged proportionally; if the current ultrasound depth is less than basic_depth, the projected image is reduced proportionally. After scaling, the error between the gland size in the projected image and the patient's actual gland size is controlled within a set range, ensuring that the projected image seen by the doctor matches the actual gland.

[0068] Step 220: Determine the position of the needle entry point in the reference plane.

[0069] In the embodiments of this application, preferably, when the transrectal ultrasound probe is in a preset working position, the normal direction of the reference plane is parallel to the longitudinal central axis of the transrectal ultrasound probe.

[0070] When determining the needle insertion point on the body surface, the system can automatically calculate the line connecting the selected needle insertion point and the puncture target point by clicking on the virtual reference plane image through the operating terminal. Based on the position of each point on the line, the system determines the cross-sectional and sagittal plane positions where the line intersects. Furthermore, based on these cross-sectional and sagittal plane images, the system determines whether the line passes through an unwanted area. This process can be judged manually or automatically analyzed by the processor.

[0071] The processor can receive input from an operator terminal selecting an insertion point in a virtual reference plane image, calculate the puncture path between the insertion point and the puncture target point, and retrieve corresponding cross-sectional and / or sagittal images based on the spatial location traversed by the puncture path. The retrieved images can be displayed on a display terminal for the operator to verify the puncture path.

[0072] Step 230: Determine a virtual marker point on the extension line formed by extending the line connecting the puncture target point and the needle insertion point outwards from the body surface, and the intersection point of the projected light ray passing through the virtual marker point and the reference plane.

[0073] This application is particularly applicable when the line connecting the needle insertion point and the target point is deviated from the perpendicularity of the reference plane.

[0074] The term "virtual marker point" as used herein refers to a spatial point on the body surface extending from the line connecting the puncture target point and the needle insertion point, corresponding to the needle body marker point and used to establish needle body directional constraints. The term "projection guide point" as used herein refers to the intersection of the projected ray and the reference plane after passing through the virtual marker point. In a preferred embodiment, the virtual marker point serves as the target spatial location of the actual needle body marker point.

[0075] Step 240: Control the tip of the puncture needle to be positioned at the insertion point, and the needle body to pass through the marked point, while the needle body at the marked point blocks the projected light at the intersection point. The position of the puncture needle at this time is the required one.

[0076] Specifically, in step 240, projection control information including the needle insertion point and the projection guide point is generated, and the projection device is controlled to project the corresponding projection pattern onto the reference plane. The needle insertion point is used to form a needle tip position constraint, and the projection light projected onto the projection guide point is used to form another position constraint with the needle body marker point; when the puncture needle tip is aligned with the needle insertion point and the needle body marker point blocks the projection light, the puncture needle axis defined by the needle tip and the needle body marker point coincides with the line connecting the puncture target point and the needle insertion point.

[0077] The projection guidance principle used in steps 230-240 is as follows:

[0078] The angle of light from the lens of the projection device to each pixel on the projection plane (i.e., the reference plane) is fixed, and the coordinates of the pixel on the fixed plane remain unchanged. Furthermore, when light reaching a pixel is blocked at different locations in space, the angle between the line connecting that location and the pixel and the projection plane changes. Conversely, once this location is set, the specific coordinates of the pixel on the projection plane can be calculated. This pixel is the projection guide point for guiding the needle's advance direction.

[0079] In the projection system, the projection lens is regarded as a point light source. The angle of light propagation from the lens to any pixel on the projection plane remains fixed, and the coordinates of each pixel on the projection plane are uniquely determined. Since the obstruction position must be located on the extension line connecting the puncture target point and the needle insertion point, any obstruction position corresponds to a unique projection guide point.

[0080] Therefore, the needle insertion point, virtual marker point, and projection guide point have a definite generation relationship: the needle insertion point is not one of two display points arbitrarily combined with the projection guide point, nor is the projection guide point a pre-set auxiliary graphic position. The virtual marker point is defined by the line connecting the puncture target point and the needle insertion point, and the projection guide point is determined by the projected light rays passing through the virtual marker point. Thus, the obstruction of the corresponding projected light rays by the needle body marker point has the meaning of verifying the needle body direction. Furthermore, by using a preset distance from the needle tip to the marker point and the optical parameters of the projection device, the above spatial relationship can be made deterministically calculable.

[0081] From a geometric constraint perspective, the needle tip and the needle body marker are two distinct points on the axis of the puncture needle. After the needle tip aligns with the insertion point, the puncture needle can still rotate around the insertion point; when the needle body marker is further located in the target spatial position, the two distinct points together determine a unique axis. The occlusion state between the projected light ray and the marker is used to transform the latter spatial position condition into an observable state on the body surface, thus compensating for the lack of directional constraints in a single insertion point projection.

[0082] Compared to display methods that only project the needle insertion point, puncture target point, path diagram, or medical image, this embodiment establishes directional constraints using virtual markers on the extended line of the body surface, and allows the resulting projected light rays to directly participate in needle orientation calibration. Compared to methods that only calculate and display the puncture angle, this embodiment transforms the spatial direction corresponding to the angle into physical positional conditions that the needle markers can actually satisfy. The needle's physical dimensions and projection optical parameters can further improve the certainty of these physical positional conditions.

[0083] As a further optimized embodiment of this application, step 200 may also be executed before the processor executes steps 210-240:

[0084] Step 200: Obtain the cross-sectional and / or sagittal image sequence of the target area, record the ultrasound probe position and angle information corresponding to each frame of the image, and establish the pixel position correspondence between the cross-sectional and sagittal images.

[0085] During the surgical planning phase, "acquiring" here refers to reading or inputting pre-acquired transverse and sagittal image data from the patient.

[0086] The pre-acquired image sequence is saved to the operating terminal, and a correlation database of "image frame - stepper position - probe angle" is established. That is, the image sequence, together with the position of the ultrasonic probe and the movement of the ultrasonic stepper, constitutes an image sequence with spatial pose coordinates.

[0087] The generation of dual-plane pixel spatial correspondence can be achieved by using image processing algorithms to extract key anatomical feature points of glands in cross-sectional and sagittal images and calculate the spatial coordinate mapping relationship of feature points in different planes.

[0088] In one embodiment of this application, a spatial correspondence between pixels in the cross-sectional and sagittal plane images is generated based on the image sequence to realize point indexing between the two plane images. Realizing point indexing between the two plane images includes: in response to selecting a point on any plane, indexing and displaying the other plane image at the location of that point.

[0089] In one embodiment of this application, preferably, images of multiple sagittal and / or transverse planes traversed by the line connecting the needle insertion point and the target point are retrieved and / or displayed based on their locations.

[0090] Based on the aforementioned steps 210-240, the apparatus and equipment of this application can also perform the following data processing:

[0091] Step 250: Real-time image matching and display of the needle insertion process.

[0092] The display terminal can show cross-sectional and / or sagittal images of the needle insertion point and the puncture target point. The processor identifies the puncture needle from the real-time acquired cross-sectional and / or sagittal images, and retrieves and / or displays images of multiple sagittal and / or cross-sectional planes traversed by the line connecting the needle insertion point and the puncture target point, based on their positions. Further, it determines whether the puncture needle is located on any of the multiple sagittal or cross-sectional planes traversed by the line connecting the needle insertion point and the target point. If the puncture needle deviates from the preset planned trajectory (falls off the line connecting the needle insertion point and the target point), a prompt message is output.

[0093] Figure 3This is a schematic diagram illustrating the calculation of the needle insertion angle. The needle insertion angle calculation is based on the spatial coordinate relationship between the needle insertion point and the target point (i.e., the target point). It is assumed that the two are located in two parallel planar coordinate systems with the same origin (respectively, the "needle insertion point coordinate system" and the "target point coordinate system"). The specific calculation logic is as follows:

[0094] Define the target point as L in the coordinate system of the needle entry point. The perpendicular distance from the target point to point L is the distance l between the two coordinate systems in the z-axis direction (i.e., the distance from the reference plane to the plane where the target point is located, which can be automatically calculated and obtained through the image acquisition process).

[0095] The vertical distance in the y-direction from the needle entry point E to point L is (y2 - y1) (difference in the y-axis direction), and the horizontal distance in the x-direction is (x2 - x1) (difference in the x-axis direction); the reference plane is the xy plane where the needle entry point E is located.

[0096] The intersection of the horizontal line at point L and the horizontal line at the needle insertion point E is S. The distance from S to the target point T is s, which satisfies the Pythagorean theorem: s² = (x2 - x1)² + l².

[0097] The straight-line distance from the needle insertion point to point L is h (i.e., the projection of the puncture path onto the reference plane). According to the formula for the distance between two points on a plane: h²=(x2-x1)²+(y2-y1)²;

[0098] Calculate the angle α between LE and the x-axis (the angle of needle advance in the x-direction of the xy coordinate plane): sinα=(y2-y1) / h;

[0099] The straight-line distance between the needle insertion point and the target point is m. According to the Pythagorean theorem: m² = (y² - y¹)² + s²;

[0100] Calculate the angle β between TE and LE (angle with the horizontal plane): sinβ = l / m;

[0101] Note: When inserting the needle, the values ​​of x1 and x2, and y1 and y2 are uncertain. The calculation can be done by subtracting the larger value from the smaller value. The final calculated angle is always an acute angle, but it may be the angle with the positive direction or the angle with the negative direction.

[0102] Figure 4 This is a schematic diagram for calculating the projection guide point. The coordinates of the projection guide point are calculated given the needle entry angles α and β, and the coordinates of the needle entry point in the xy plane (denoted as E(x1,y1)). The coordinates of the projection guide point D(x3,y3) need to be calculated. The calculation process is based on the spatial geometric relationship between the lens and the projection plane, as detailed below:

[0103] Set the basic parameters: the vertical distance from the lens to the reference plane (projection plane) is l1 (i.e., the vertical distance from the lens to the center point O(x0, y0) of the projection plane coordinate system); when the needle marker point N is located on the projection ray from the optical center of the projection device to the projection guide point D, and blocks the projection ray, the vertical distance from the marker point N to the xy coordinate plane is n; the line connecting the projection guide point D and the center point O passes through the foot M of the perpendicular line drawn from the marker point N to the xy coordinate plane; the straight-line distance from the needle insertion point E to the foot M is b; the distance from the needle tip to the marker point N is a (known fixed parameter); the angle between the puncture needle axis (A) and the xy coordinate plane is (90 - β).

[0104] Based on the trigonometric relationships: sin (90 - β) = n / a (vertical distance relationship); cos (90 - β) = b / a (horizontal distance relationship), the specific values ​​of n and b can be calculated.

[0105] Calculate the straight-line distance d from the center point O to the needle entry point E: According to the formula for the distance between two points, d²=(x1-x0)² +(y1-y0)²;

[0106] Let γ be the angle between OE and the x-axis. Calculate the straight-line distance c from the center point O to the foot of the perpendicular M: According to the law of cosines, if O is inside point E in the x-direction, c² = d² + b² - 2dbcos(γ - α); if O is outside point E in the x-direction, c² = d² + b² - 2dbcos(γ + α).

[0107] Calculate the straight-line distance e from the center point O to the projection guide point D: Based on the principle of similar triangles, n / l1 = (e- c) / e, which can be simplified to e = c×l1 / (l1 - n);

[0108] Calculate the angle δ between OD and OE: According to the law of cosines, δ = arccos((d² + c² - b²) / (2dc));

[0109] Calculate the angle ε between OD and the x-axis: According to the plane angle relationship, if O is inside point D in the x-direction, ε = 180° - γ - δ; if O is outside point D in the x-direction, ε = γ + δ.

[0110] Calculate the y-axis distance f and x-axis distance g from the projection guide point D to the center point O: f = ecosε (y-axis direction); g = esinε (x-axis direction);

[0111] The final coordinates of the projection guide point D are: D(y0 + f, x0 + g).

[0112] Figure 5 The specific processing steps for this application, from inputting planning information to outputting pose guidance information, are as follows:

[0113] Planning Information Input: The processor receives image data of the target area, the puncture target point selected in the image data, and the needle insertion point selected in the reference plane. In preoperative planning, the surgeon inputs a working dataset (ultrasound or fused images) through the surgical equipment, precisely planning the spatial location of the puncture insertion point and the target point within the system. It should be noted that the operation of the method or device of this application is not dependent on a specific target body; that is, the method or device of this application can be implemented for any target body, planning the needle insertion point and target point within the dataset.

[0114] Needle insertion angle calculation: The system automatically calculates the needle insertion spatial angle (including the horizontal and vertical angles) that meets the puncture requirements based on the spatial coordinates of the needle insertion point and the target point.

[0115] Projection control: The processor determines the line connecting the needle insertion point and the puncture target point based on their spatial coordinates, determines a virtual marker point on the extension line of the line on the body surface, and determines the intersection point of the projection ray passing through the virtual marker point and the reference plane; the processor further calculates the coordinates of the projection guide point in the reference plane and the pixel coordinates in the projection image, and controls the projection device to project a projection pattern used to mark the needle insertion point and the projection guide point.

[0116] Puncture calibration: Set fixed marking points on the surface of the puncture needle body, and measure and fix the distance between the needle tip and the marking points in advance (known parameters); place the needle tip precisely on the pre-planned puncture point, slowly adjust the angle of the puncture needle so that the needle body marking point N is on the projection light rays from the optical center of the projection device to the projection guide point D, and block the projection light rays.

[0117] Direction Determination: When the needle marker N is located on the projected light ray from the optical center of the projection device to the projection guide point D, and this projection light ray is blocked, the axial direction of the puncture needle is the precise insertion direction that meets the planning requirements. At this time, the puncture operation can be performed along this direction. That is, when the posture calibration conditions are met simultaneously, the needle tip and the needle marker point respectively satisfy two interrelated positional constraints. The puncture needle axis jointly defined by the two coincides with the line connecting the puncture target point and the insertion point, thereby enabling the device to complete the visual guidance of the target posture.

[0118] Figure 6 This is an embodiment of the functional modules of the puncture needle pose determination device of this application. Each functional module represents a corresponding data processing function executed by the processor, which can be implemented by computer program instructions, dedicated hardware circuits, or a combination of both.

[0119] Input module 61 is used to obtain the position of the puncture target point in the target area and the position of the needle insertion point on the reference plane;

[0120] The determination module 62 is used to determine a virtual marker point on the outer extension line of the line connecting the puncture target point and the needle insertion point, and to determine the intersection of the projection ray after passing through the virtual marker point and the reference plane as the projection guide point.

[0121] The control module 63 is used to control the tip of the puncture needle to be located at the needle entry point, the needle body to pass through the marked point, and at the same time, the needle body at the marked point blocks the projected light at the intersection point.

[0122] In one embodiment of this application, preferably, it further includes a data module 64, which is used to record the position and angle information of the ultrasound probe corresponding to each frame of the image in response to the cross-sectional and sagittal image sequences of the target area, and to establish the pixel position correspondence between the cross-sectional and sagittal images.

[0123] In one embodiment of this application, preferably, it further includes a projection module 65, configured to: in response to planning one or more puncture target points on a cross-sectional and / or sagittal plane image, obtain their spatial coordinates, project the planned puncture target points onto a reference plane, or superimpose the cross-sectional image and the planned puncture target points and project them onto the reference plane.

[0124] In one embodiment of this application, preferably, the input module 61 is further configured to: acquire cross-sectional and / or sagittal images of the target area, plan the puncture target point, and acquire its spatial coordinates.

[0125] In one embodiment of this application, preferably, the projection module 65 is further configured to dynamically adjust the scaling ratio of the projected image based on the difference between the current ultrasound depth and the preset baseline depth, so as to match the actual gland size.

[0126] In one embodiment of this application, preferably, the data module 64 is further configured to generate a spatial correspondence between pixels in the cross-sectional and sagittal images based on the image sequence, thereby realizing point indexing between the two plane images.

[0127] In one embodiment of this application, the data module 64 is further configured to retrieve multiple sagittal and / or transverse images along the puncture path based on the positions of the needle insertion point and the puncture target point; the data module 64 may also index another planar image containing the spatial location corresponding to the pixel in response to an input of selecting a pixel in any planar image.

[0128] In one embodiment of this application, the projection module 65 is further configured to display images of multiple sagittal and / or transverse planes through which the line connecting the needle insertion point and the target point passes, based on the positions of the needle insertion point and the target point.

[0129] After the above planning information processing, the device can also perform the following functions during the operation of the puncture equipment:

[0130] Real-time display of the relationship between the puncture needle image and the expected pose: The expected puncture point is selected on a certain plane. The determination module automatically calculates the puncture needle's posture (including insertion position and angle), and drives the display terminal or operating terminal to display the ultrasound image in real time via the display module (not shown in the figure). The ultrasound stepper moves automatically or manually (translating or rotating) to adjust the imaging on another plane, so that a part of the puncture needle or the needle body appears on the real-time planar image. Based on the real-time acquired cross-sectional and / or sagittal images, it is determined whether the puncture needle is located on the line connecting the insertion point and the target point.

[0131] Figure 7 This is a system embodiment of the puncture device of this application. The puncture device includes a puncture frame, a transrectal ultrasound probe 12, a puncture needle, a processor 17, and a projection device 11 disposed on the body surface; the puncture device may also include a display terminal 16.

[0132] The processor 17 is used to determine the line connecting the puncture target point and the needle insertion point, the virtual marker point on the outer extension line of the line, and the projection guide point based on the position of the puncture target point and the needle insertion point, and to generate projection control information.

[0133] The puncture frame includes a position adjustment mechanism and an angle adjustment mechanism for adjusting and maintaining the relative position between the transrectal ultrasound probe 12 and the puncture needle 14.

[0134] Preferably, when the transrectal ultrasound probe is in a preset working position, the normal direction of the reference plane is parallel to the longitudinal central axis of the transrectal ultrasound probe, and the line connecting the needle insertion point and the target point is deviated from the perpendicular state from the reference plane.

[0135] The projection device 11 is used to project the needle insertion point and the projection guide point onto the reference plane according to the projection control information sent by the processor 17; the projection device 11 can also project the puncture target point onto the reference plane, or superimpose the cross-sectional image with the puncture target point and project it onto the reference plane.

[0136] Preferably, the projection device is further configured to dynamically adjust the scaling ratio of the projected image based on the difference between the current ultrasonic depth and the preset baseline depth, so as to match the actual size.

[0137] The display terminal 16 is used to display cross-sectional and / or sagittal images, puncture path, and the positional information of the puncture needle relative to the puncture path.

[0138] Transrectal ultrasound probe 12 is used to pre-acquire transverse and sagittal image sequences of the prostate, and / or to acquire transverse and / or sagittal images in real time during the operation of the puncture device.

[0139] The processor 17 is also configured to determine, based on real-time acquired sagittal images, that the puncture needle is located on the line connecting the insertion point and the target point during the needle's travel. Furthermore, it is configured to identify the puncture needle based on real-time acquired cross-sectional and / or sagittal images, determine the deviation of the puncture needle relative to the puncture path, and output a prompt message when the deviation exceeds a preset range.

[0140] To support puncture planning, needle position determination, and real-time deviation alerts, the device can acquire and process image data. To establish the spatial correspondence between the two-plane images, it can perform tasks such as confirming the initial position of the ultrasonic stepper, acquiring image sequences, saving and associating image sequences, and generating spatial correspondences between two-plane pixels.

[0141] Steps for confirming the initial position of the ultrasonic stepper: Turn on the ultrasonic equipment and the stepper control software, adjust the stepper to the initial position for image acquisition (set as the origin of the coordinate system), adjust the rotation angle to 0°, and record the probe angle at the initial position (set as 0°).

[0142] The steps for acquiring the image sequence are as follows: Select the acquisition mode (transverse or sagittal), and set the stepper motion parameters. If acquiring transverse images, the motion speed setting range is 1-100 mm / s. The stepper will drive the transrectal ultrasound probe to translate along its longitudinal central axis. The translation range is set according to the content of the sagittal image, and the image acquisition speed setting range is 1-200 frames / s. If acquiring sagittal images, the stepper rotation speed setting range is 1-100° / s, the rotation range is -180° to +180°, and the image acquisition speed setting range is 1-200 frames / s. During the acquisition process, the software automatically records the stepper position (translation distance or rotation angle) and probe angle corresponding to each frame of the image, forming an image sequence with spatial pose coordinates.

[0143] The steps for saving and associating image sequences are as follows: Save the acquired image sequences to any terminal (such as an operating terminal) or server, and establish an associated database of "image frame - stepper position - probe angle".

[0144] Dual-plane pixel spatial correspondence generation: Through image processing algorithms, key anatomical feature points of the gland (such as gland edge points and lesion center points) in cross-sectional and sagittal images are extracted, and the spatial coordinate mapping relationship of feature points in different planes is calculated. For example, if a lesion center point A (coordinates (x1, y1)) is selected in the cross-sectional image, the algorithm can automatically find the corresponding center point A' (coordinates (x2, y2)) in the sagittal image, realizing cross-plane positioning of "selection of points as index", which helps doctors establish a three-dimensional anatomical understanding of the gland.

[0145] In one embodiment of this application, preferably, the processor further includes: acquiring cross-sectional and / or sagittal images of the target area, and acquiring its spatial coordinates in response to an instruction to plan a puncture target point on an operating terminal.

[0146] In one embodiment of this application, the projection device is further configured to dynamically adjust the scaling ratio of the projected image based on the difference between the current ultrasound depth and the preset baseline depth, so as to match the actual gland size.

[0147] In one embodiment of this application, preferably, the processor generates a spatial correspondence between pixels in the cross-sectional and sagittal images based on the image sequence, thereby realizing point indexing between the two-plane images.

[0148] In one embodiment of this application, preferably, the processor retrieves images of multiple sagittal and / or transverse planes through which the line connecting the needle insertion point and the target point passes, based on the positions of the needle insertion point and the target point; the projection device displays images of multiple sagittal and / or transverse planes through which the line connecting the needle insertion point and the target point passes, based on the positions of the needle insertion point and the target point.

[0149] In one embodiment of this application, preferably, the processor implements point indexing between two plane images, including: in response to selecting a point on either plane, indexing and displaying another plane image at the location of that point.

[0150] In one embodiment of this application, the processor is further configured to: control the needle body to continuously block the projected light at the intersection during the travel of the puncture needle; in one embodiment of this application, the puncture frame is further configured to: maintain the needle body to continuously block the projected light at the intersection during the travel of the puncture needle.

[0151] Before using the puncture device to output pose guidance information, the positional relationship between the projection device and the reference plane can be calibrated. This calibration may include determining the relative position of the device, adjusting the puncture frame, and fixing the projection distance of the projection device.

[0152] Patient positioning adjustment: The patient is placed in the lithotomy position (buttocks close to the edge of the operating table, legs apart and fixed to the support) to fully expose the perineal puncture area and to help stabilize the relative position between the transrectal ultrasound probe, the prostate and the perineal puncture area, reducing the impact of positional changes on projection accuracy;

[0153] Equipment setup: Fix the projection device on the bracket outside the patient's body, so that the projection lens is facing the puncture area of ​​the patient's perineum; slowly insert the transrectal ultrasound probe into the patient's rectum, adjust the ultrasound imaging depth according to the patient's body size, and fix the transrectal ultrasound probe on the puncture frame;

[0154] Puncture frame adjustment: First, adjust the front-to-back distance using the adjustment knob of the puncture frame so that the transrectal ultrasound probe can clearly acquire a complete image of the prostate; then adjust the left-to-right position so that the central axis of the projected ultrasound cross-sectional image is aligned with the imaging midline of the transrectal ultrasound probe; finally, adjust the pitch angle so that the normal direction of the reference plane corresponding to the perineal puncture area is parallel to the longitudinal central axis of the transrectal ultrasound probe.

[0155] Projector distance fixed: Measure the distance from the projector lens to the reference plane corresponding to the perineal puncture area, fix it as a system fixed value or calibration value, and record this distance as the benchmark for subsequent projection image scaling to avoid projection size deviation due to distance changes.

[0156] It should also be noted that when using dual-plane imaging in the planning process, transverse and sagittal image sequences of the patient's prostate can be acquired in advance. The device posture during image acquisition should be the same as the device posture when the puncture device outputs posture guidance information. The device posture here includes the relative positional relationship between the projection device, the transrectal ultrasound probe, and the patient's position.

[0157] The above-mentioned technical solutions adopted in the embodiments of this application can achieve the following beneficial effects: First, they reduce the difficulty of operation. They shorten the learning time, eliminate the need for extensive operational experience, and enable precise puncture through automatic pose calculation, thus lowering the technical threshold. Second, they improve puncture accuracy. They reduce the spatial correspondence deviation between the two-dimensional image and the target body position, and visualize the puncture needle insertion point on the reference plane through projection, thereby improving puncture accuracy. Third, they shorten working time. The visualization of the puncture point and automatic pose calculation reduce manual operation steps, decrease the frequency of operator eye switching, improve operational continuity, and increase work efficiency. Fourth, they enhance work safety. Real-time and precise guidance of the puncture needle pose through ultrasound imaging improves work safety and reliability; real-time image matching and deviation prompts ensure that the puncture needle enters along the expected path, reducing intervention in other parts of the target body.

[0158] Those skilled in the art will understand that the puncture needle position determination device of this application can be implemented in hardware, software, or a combination of both. The various data processing functions executed by the processor can be implemented by computer program instructions, which can be stored in one or more computer-readable storage media.

[0159] Therefore, this application also proposes an electronic device and a computer-readable storage medium. When its computer program is executed by a processor, it at least acquires the predetermined positions of the puncture target point and the needle insertion point, determines a virtual marker point on the outer extension line of the line connecting the two points on the body surface, determines the intersection of the projected light ray after passing through the virtual marker point and the reference plane as the projection guide point, and generates projection control information containing the needle insertion point and the projection guide point; the computer program can also implement image matching and deviation prompting functions.

[0160] This application also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of being executed by the processor; when the processor runs the computer program, it implements the processor function in the puncture needle pose determination device.

[0161] The apparatus, electronic equipment, and computer-readable storage medium of this application can be described in conjunction with the data processing flow shown in the accompanying drawings. One or more process or functional modules in the flowchart or function block diagram can be implemented by computer program instructions.

[0162] Computer program instructions may be stored in a computer-readable storage medium that enables a computer or other programmable data processing device to operate in a predetermined manner, such that the instructions, when executed, perform the corresponding data processing functions described in a flowchart or function block diagram.

[0163] Computer program instructions can also be loaded into a computer or other programmable data processing device to cause the computer or other programmable data processing device to perform corresponding data processing operations and output information for controlling the projection device or display terminal.

[0164] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory. Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0165] Figure 8This is a schematic diagram of an electronic device provided in an embodiment of this application. The electronic device 90 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of this application. The electronic device 90 includes one or more processors 17 and a storage device 91; the storage device 91 is used to store one or more programs, which, when run by the one or more processors 17, cause the processors 17 to perform at least one function in the data processing flow shown in steps 200-250.

[0166] The electronic device 90 also includes an input device 93 and an output device 94; the processor 17, storage device 91, input device 93 and output device 94 in the electronic device can be connected by a bus or other means, and the connection via bus 95 is taken as an example in the figure.

[0167] Storage device 91, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and program instructions corresponding to the various data processing functions of this application. Storage device 91 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on terminal usage. Furthermore, storage device 91 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, storage device 91 may further include memory remotely located relative to processor 17, which can be connected via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0168] Input device 93 can be used to receive input digital, character, or voice information, and to generate key signal inputs related to user settings and function control of the electronic device. Output device 94 may include electronic devices such as a display screen and a speaker.

[0169] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, or device that comprises a list of elements includes not only the elements expressly listed, but also other elements not expressly listed, or elements inherent to the process, apparatus, or device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, or device that includes that element.

[0170] The above description is merely an embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, or improvements made by those skilled in the art within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A puncture needle pose determination apparatus characterized by, The puncture needle has marking points on its body. The device includes a processor and a projection device disposed on the body surface, the processor being communicatively connected to the projection device; the processor is configured to: Obtain the location of the puncture target point in the target area and the location of the needle insertion point determined in the reference plane; A virtual marker point and the intersection of the virtual marker point and the reference plane are determined on the extension line formed by extending the line connecting the puncture target point and the needle insertion point outward from the body surface. The projection device is configured to project a projection pattern onto the reference plane to mark the needle entry point and the intersection point as the projection guide point. The needle insertion point is used to guide the needle tip of the puncture needle to be aligned, and the projected light rays projected onto the projection guide point are used to block the marking points on the needle body so that the axis of the puncture needle defined by the needle tip and the marking points coincides with the line connecting the puncture target point and the needle insertion point.

2. The puncture needle pose determination apparatus according to claim 1, characterized by, The target region is the prostate, and the processor is further configured to: Planning the puncture target point includes the following steps: acquiring cross-sectional and / or sagittal images of the prostate gland obtained by a transrectal ultrasound probe, receiving input to select the puncture target point from the cross-sectional and / or sagittal images, and converting the pixel coordinates of the puncture target point into spatial coordinates.

3. The puncture needle position determination device according to claim 2, characterized in that, The reference plane is a reference plane corresponding to the perineal puncture area; the transrectal ultrasound probe has a longitudinal central axis extending from its proximal end to its distal end, and when the transrectal ultrasound probe is in a preset working position for acquiring the transverse and / or sagittal images, the normal direction of the reference plane is parallel to the longitudinal central axis; the line connecting the puncture target point and the needle insertion point has an angle with the normal direction of the reference plane.

4. The puncture needle position determination device according to claim 2, characterized in that, The projection device is also configured to project the planned puncture target onto the reference plane, or to superimpose the cross-sectional image with the planned puncture target onto the reference plane.

5. The puncture needle position determination device according to claim 4, characterized in that, The processor is also configured to adjust the scaling of the projected pattern based on the difference between the current ultrasound imaging depth and a preset baseline depth.

6. The puncture needle position determination device according to claim 2, characterized in that, The processor is also configured to establish a pixel spatial correspondence between the transverse and sagittal images based on the image sequence and the position and angle information of the transrectal ultrasound probe when acquiring each frame of the image.

7. The puncture needle position determination device according to claim 6, characterized in that, The processor is also configured to retrieve multiple cross-sectional and / or sagittal images along the line connecting the needle insertion point and the puncture target point, based on the positions of the needle insertion point and the puncture target point, and control the display terminal to display the retrieved images.

8. The puncture needle position determination device according to claim 1, characterized in that, The processor is also configured to identify the puncture needle from real-time acquired cross-sectional and / or sagittal images, determine the deviation of the puncture needle relative to the line connecting the puncture target and the needle insertion point, and output a prompt message when the deviation exceeds a preset range.

9. The puncture needle position determination device according to claim 1, characterized in that, The processor is also configured to control the needle body to continuously block the projected light at the intersection point during the travel of the puncture needle.

10. A lancing device, characterized by, It includes a puncture needle supported by a puncture frame, and a puncture needle position determination device according to any one of claims 1 to 9; The puncture frame is used to position the puncture needle on the extension line, so that the tip of the puncture needle is located at the needle insertion point, the needle body passes through the virtual marker point, and at the same time, the needle body at the virtual marker point blocks the projected light at the intersection point.

11. The lancing device of claim 10, wherein, It also includes a transrectal ultrasound probe and an ultrasound stepper connected to the transrectal ultrasound probe; The ultrasonic stepper is configured to drive the transrectal ultrasound probe to translate and / or rotate, and the processor is further configured to associate and store each frame of the transverse and / or sagittal image sequence with the position of the ultrasonic stepper and the angle of the transrectal ultrasound probe when the frame is acquired.

12. The puncture device according to claim 10, characterized in that, The projection angle and projection distance of the projection device are adjustable, and the processor is further configured to convert the needle entry point and the projection guide point into pixel coordinates in the projected image of the projection device according to the calibration relationship between the projection device and the reference plane.

13. The puncture device according to claim 10, characterized in that, It also includes display terminals, The display terminal is communicatively connected to the processor and is configured to display cross-sectional and / or sagittal images of the target area, as well as the pose information of the puncture needle relative to the line connecting the puncture target and the needle insertion point.

14. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, characterized in that, The computer program includes instructions for causing the processor to perform the following functions: acquiring the position of a predetermined puncture target point in a target area and the position of the needle insertion point in a reference plane; determining a virtual marker point corresponding to a marker point on the puncture needle body on an extension line formed by extending the line connecting the puncture target point and the needle insertion point outwards from the body surface, and determining the intersection of the projection ray after passing through the virtual marker point and the reference plane as a projection guide point; generating projection control information containing the needle insertion point and the projection guide point, and sending the projection control information to a projection device so that the projection device projects a projection pattern for marking the needle insertion point and the projection guide point onto the reference plane.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program includes instructions for causing the processor to perform the following functions: acquiring the position of a predetermined puncture target point in the target area and the position of the needle insertion point in a reference plane; determining a virtual marker point corresponding to a marker point on the puncture needle body on an extension line formed by extending the line connecting the puncture target point and the needle insertion point outwards from the body surface, and determining the intersection of the projection ray after passing through the virtual marker point and the reference plane as a projection guide point; generating projection control information containing the needle insertion point and the projection guide point, and sending the projection control information to a projection device so that the projection device projects a projection pattern for marking the needle insertion point and the projection guide point onto the reference plane.

Images