Puncture guidance method, system, device, and storage medium

Abstract

This invention proposes a puncture guidance method, system, device, and storage medium, relating to the field of medical interventional surgical navigation technology. The method includes: acquiring CT image information of the subject; generating an optimal puncture path based on the CT image information; and controlling a laser device to generate a laser path based on the optimal puncture path, wherein the spatial geometric position of the laser path is fixed; acquiring the subject's physiological information and the needle's pose information; calculating a comprehensive spatial deviation value in real time based on the physiological information, pose information, and the optimal puncture path; controlling the laser device to switch the visual modality of the laser path based on the comprehensive spatial deviation value; and providing puncture guidance based on the visual modality. This invention, through simple switching of the visual modality, can provide feedback on the subject's physiological information and the surgeon's needle-holding posture deviation during the puncture process, and provide corresponding guidance, thereby reducing the difficulty of puncture and improving its stability.

Description

Technical Field

[0001] This invention relates to the field of medical interventional surgical navigation technology, and more specifically, to a puncture guidance method, system, device, and storage medium. Background Technology

[0002] Percutaneous puncture techniques (such as lung nodule biopsy and tumor ablation) are of great significance in clinical interventional therapy. Precise puncture path guidance is crucial for surgical success. Currently, most commonly used laser navigation devices in clinical practice are in static guidance mode. This involves calculating the spatial relationship between the target point and the needle insertion point based on preoperative or intraoperative CT scan images, and then driving the laser to project a fixed laser beam onto the subject's body surface. However, this traditional static guidance technique has the following significant drawbacks in practical clinical applications: 1. Physiological Motion Deviation: The lungs, liver, and other organs of the subject are significantly displaced due to respiratory movements, causing the internal target point to be in a state of dynamic drift. The static laser beam cannot reflect the target point drift caused by changes in the respiratory phase. If the operator inserts the needle at the wrong respiratory phase, it is very easy to cause puncture deviation or even accidental damage to blood vessels.

[0003] 2. Deviation in execution: During manual puncture, the actual path may deviate significantly due to hand tremors, deviation in needle holding posture (such as the needle axis not aligning with the laser beam), and needle deflection caused by tissue resistance after the needle tip enters the flesh. Even if the laser is aligned with the puncture point, the actual path may still deviate significantly.

[0004] 3. Visual Interaction Bottleneck: Existing "dynamic compensation" schemes attempt to drive the laser beam to jump in real time with breathing, but this causes frequent displacement of the light spot on the skin surface, interfering with the operator's judgment of the needle insertion point. At the same time, existing technologies lack a means to "normalize" breathing displacement and human operation errors and provide real-time feedback to the operator in an intuitive and minimalist manner.

[0005] Therefore, developing an intelligent system that can maintain the stability of the guidance path, perceive multidimensional errors in real time, and provide intuitive feedback is an urgent need in the field of clinical intervention. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide a puncture guidance method, system, device and storage medium to solve at least some of the technical problems in the prior art.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a puncture guidance method applied to a puncture guidance system, the puncture guidance system including a puncture device and a laser device, the puncture device including a needle, the method comprising: The subject's CT image information is acquired, an optimal puncture path is generated based on the CT image information, and the laser device is controlled to generate a laser path based on the optimal puncture path, wherein the spatial geometric position of the laser path is fixed. Acquire the subject's physiological information and the needle's position information, and calculate the comprehensive spatial deviation value in real time based on the physiological information, the position information, and the optimal puncture path; Based on the comprehensive spatial deviation value, the laser device is controlled to switch the visual modality of the laser path, and puncture guidance is performed based on the visual modality.

[0008] In an optional implementation, the step of acquiring the subject's CT image information and generating an optimal puncture path based on the CT image information includes: Acquire CT images of subjects during the stable respiratory phase; Based on the CT image information, the needle insertion point and lesion target point on the subject's body surface are determined, and the optimal puncture path is generated based on the needle insertion point and the lesion target point.

[0009] In an optional embodiment, the puncture device includes a positioning identifier for providing positioning information to the needle. The step of controlling the laser device to generate a laser path based on the optimal puncture path includes: The puncture path of the needle is determined according to the optimal puncture path; The position of the positioning marker is determined based on the reverse extension line of the puncture path, and the laser path is generated according to the puncture path and the reverse extension line, the laser path coinciding with the puncture path and the reverse extension line.

[0010] In an optional embodiment, the puncture device further includes a visual tracker, a puncture marker is attached to the tip of the needle, the physiological information includes respiratory phase, and the step of calculating a comprehensive spatial deviation value in real time based on the physiological information, the pose information, and the optimal puncture path includes: Obtain the reference phase corresponding to the subject's stable breathing phase, and calculate the phase deviation based on the breathing phase and the reference phase; The visual tracker identifies the puncture mark and obtains the position information of the needle based on the puncture mark. The angle deviation is calculated based on the position information of the needle and the path angle corresponding to the optimal puncture path. The comprehensive spatial deviation value is calculated in real time based on the phase deviation and the angle deviation.

[0011] In an optional implementation, the step of controlling the laser device to switch the visual modality of the laser based on the comprehensive spatial deviation value includes: Determine whether the overall spatial deviation value is greater than the deviation value threshold; If the overall spatial deviation value is less than or equal to the deviation value threshold, then the laser device is controlled to set the laser path to the first visual mode; If the overall spatial deviation value is greater than the deviation value threshold, the laser device is controlled to maintain the laser path in a second visual mode. The first visual mode is different from the second visual mode. The initial state of the laser path is the second visual mode. The first visual mode and the second visual mode are distinguished by at least one visual feature among color wavelength, beam brightness, or flicker frequency.

[0012] In an optional implementation, the step of controlling the laser device to set the laser path to a first visual modality if the overall spatial deviation value is less than or equal to the deviation value threshold includes: The comprehensive spatial deviation value is sampled and timed through a preset time window; If the time during which the comprehensive spatial deviation value is less than or equal to the deviation value threshold is greater than or equal to the preset time window, then the laser device is controlled to set the laser path to the first visual mode.

[0013] In an optional implementation, the method further includes: If the time for which the comprehensive spatial deviation value is less than or equal to the deviation value threshold is less than the preset time window, then the laser device is controlled to maintain the laser path in the second visual modality and the timing is reset.

[0014] In a second aspect, the present invention provides a puncture guidance system, the puncture guidance system comprising a puncture device and a laser device, the puncture device comprising a needle, and the system further comprising: The laser path generation module is used to acquire the subject's CT image information, generate an optimal puncture path based on the CT image information, and control the laser device to generate a laser path based on the optimal puncture path. The spatial geometric position of the laser path is fixed. The deviation value calculation module is used to acquire the physiological information of the subject and the position information of the needle, and calculate the comprehensive spatial deviation value in real time based on the physiological information, the position information and the optimal puncture path; The puncture guidance module is used to control the laser device to switch the visual modality of the laser path based on the comprehensive spatial deviation value, and to perform puncture guidance based on the visual modality.

[0015] Thirdly, the present invention provides an electronic device including a processor and a memory, the memory storing machine-executable instructions executable by the processor, the processor executing the machine-executable instructions to implement the puncture guidance method described in the first aspect.

[0016] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the puncture guidance method described in the first aspect.

[0017] The present invention provides a puncture guidance method, system, device and storage medium that can provide feedback on the physiological information of the subject and the deviation of the operator's needle holding posture during the puncture process through simple switching of visual modal, and provide corresponding guidance, thereby reducing the difficulty of puncture and improving the stability of puncture.

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A block diagram of an electronic device provided by an embodiment of the present invention is shown; Figure 2 A schematic flowchart of a puncture guidance method provided by an embodiment of the present invention is shown; Figure 3 This diagram illustrates the correlation between respiratory phase, needle-holding posture, and visual modality according to an embodiment of the present invention. Figure 4 This diagram illustrates the principle of a puncture guidance system provided in an embodiment of the present invention. Figure 5 A functional block diagram of a puncture guidance system provided in an embodiment of the present invention is shown.

[0021] icon: 100 - Electronic device; 110 - Memory; 120 - Processor; 130 - Communication module; 500 - Puncture guidance system; 510 - Laser path generation module; 520 - Deviation value calculation module; 530 - Puncture guidance module. Detailed Implementation

[0022] 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, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0024] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0025] Please refer to Figure 1 , Figure 1 This is a block diagram of an electronic device 100 provided in this embodiment. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0026] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0027] The processor 120 is used to read / write data or programs stored in memory and to perform corresponding functions.

[0028] The communication module 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through the network, and to send and receive data through the network.

[0029] It should be understood that, Figure 1 The structure shown is only a schematic diagram of the electronic device 100. The electronic device 100 may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0030] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating a puncture guidance method provided in this embodiment, applied to a puncture guidance system. The puncture guidance system includes a puncture device and a laser device. The puncture device includes a needle. The method includes: S210. Obtain the subject's CT image information, generate an optimal puncture path based on the CT image information, and control the laser device to generate a laser path based on the optimal puncture path, wherein the spatial geometric position of the laser path is fixed.

[0031] Before the puncture procedure begins, a CT scan is used to obtain the subject's CT image information. Based on this information, the target points corresponding to the lesions within the subject's body, as well as the needle insertion point for the puncture, are marked. The insertion point is located on the subject's skin. The optimal puncture path is then calculated, connecting the insertion point and the target point. The angle of the laser device is then adjusted so that the laser beam emitted by the device coincides with the optimal puncture path, thus obtaining the laser path. During the puncture procedure, the spatial geometric position of the laser path remains fixed; its geometric path is statically locked on the subject's skin surface and does not fluctuate with the user's breathing.

[0032] S220. Obtain the physiological information of the subject and the position information of the puncture needle, and calculate the comprehensive spatial deviation value in real time based on the physiological information, the position information and the optimal puncture path.

[0033] During the puncture process, the subject's physiological information, such as breathing and posture, will affect the puncture, while the operator's posture and angle of holding the needle will also affect the accuracy of the puncture. Therefore, it is necessary to calculate the deviation of these two pieces of information during the puncture to avoid excessive deviation leading to puncture failure.

[0034] First, the subject's posture can be kept basically the same as that during the CT scan to reduce the deviation caused by a large difference in posture. For example, both subjects should be in a stable lying position. Then, the subject's breathing and the position of the needle should be monitored simultaneously, and the deviation between the two and that during the CT scan should be calculated, that is, the comprehensive spatial deviation value compared with the optimal puncture path.

[0035] For example, before performing a puncture procedure, the coordinate system of the CT image during the CT scan, the coordinate system of the visual tracking during the puncture procedure, and the coordinate system of the laser device can be obtained. The three coordinate systems can be transformed into the same spatial coordinate system using a spatial transformation matrix, thereby ensuring that the calculated comprehensive spatial deviation value can be accurately mapped to the physical deflection control of the laser device and the physical control of the puncture device.

[0036] S230. Based on the comprehensive spatial deviation value, control the laser device to switch the visual mode of the laser path, and perform puncture guidance based on the visual mode.

[0037] Since the laser path represents the standard puncture path, a deviation threshold can be set. When the relationship between the comprehensive spatial deviation value and the deviation threshold meets the condition, the laser device is controlled to switch the visual modality of the laser path, while the spatial position of the laser path remains unchanged, to indicate to the operator that puncture can be performed. Otherwise, it indicates that puncture cannot be performed.

[0038] This embodiment can provide feedback on the subject's physiological information and the operator's needle-holding posture deviation during the puncture process by simply switching visual modalities, and provide corresponding guidance, thereby reducing the difficulty of puncture and improving the stability of puncture.

[0039] In one embodiment, the step of acquiring the subject's CT image information and generating an optimal puncture path based on the CT image information includes: Acquire CT images of subjects during the stable respiratory phase; Based on the CT image information, the needle insertion point and lesion target point on the subject's body surface are determined, and the optimal puncture path is generated based on the needle insertion point and the lesion target point.

[0040] The subject can hold their breath or breathe naturally at the end of expiration as the stable breathing phase, and a CT scan can be performed on the subject at this time. The target lesion is determined based on the scan, and then the needle insertion point on the subject's body surface is determined based on the target lesion. The needle insertion point can be selected according to the needs of the puncture surgery and marked on the CT image. After the marking is completed, a line connecting the needle insertion point and the target lesion is automatically generated, and this line is the optimal puncture path.

[0041] In one embodiment, the puncture device includes a positioning identifier for providing positioning information to the needle. The step of controlling the laser device to generate a laser path based on the optimal puncture path includes: The puncture path of the needle is determined according to the optimal puncture path; The position of the positioning marker is determined based on the reverse extension line of the puncture path, and the laser path is generated according to the puncture path and the reverse extension line, the laser path coinciding with the puncture path and the reverse extension line.

[0042] The positioning marker of the puncture device is rigidly connected to the needle, providing the needle with external coordinates that can be recognized and tracked by the navigation system. Since the optimal puncture path is the path between the needle insertion point and the target point, the position and orientation of the needle also need to be determined based on the positioning marker to ensure that the needle can accurately penetrate the target point.

[0043] For precise puncture, the straight line along which the needle lies must coincide with both the target point and the insertion point. Therefore, the pose of the positioning marker can be determined based on the reverse extension of the optimal puncture path. Then, the laser path is generated based on the puncture path and its reverse extension. This laser path represents the path where the needle, insertion point, and target point are on the same straight line. Once determined, the laser path remains unchanged, providing accurate physical optical path guidance for subsequent punctures. Therefore, the laser path can be simultaneously projected onto both the insertion point and the positioning marker on the subject's body surface. By comparing the laser characteristics at the insertion point and the positioning marker, real-time feedback can be provided on whether the axial orientation of the puncture tool is collinear with the laser path. For example, if the laser colors at the insertion point and the positioning marker are the same, it can be determined that the puncture tool is collinear with the laser path.

[0044] In one embodiment, the puncture device further includes a visual tracker, the tip of the needle is equipped with a puncture marker, the physiological information includes respiratory phase, and the step of calculating a comprehensive spatial deviation value in real time based on the physiological information, the pose information, and the optimal puncture path includes: Obtain the reference phase corresponding to the subject's stable breathing phase, and calculate the phase deviation based on the breathing phase and the reference phase; The visual tracker identifies the puncture mark and obtains the position information of the needle based on the puncture mark. The angle deviation is calculated based on the position information of the needle and the path angle corresponding to the optimal puncture path. The comprehensive spatial deviation value is calculated in real time based on the phase deviation and the angle deviation.

[0045] Since the optimal puncture path is obtained when the subject is in a stable state, the subject's physiological information, such as respiratory rate and respiratory phase, can be collected in real time using a respiratory sensor before the puncture. Then, the phase deviation between the data and the reference information obtained during CT image acquisition can be calculated. The physiological information can also include other information that may disturb the target lesion.

[0046] In addition, the operator's hand may tremble or shake when holding the needle. Therefore, a visual tracker can be configured on the needle device, and a puncture marker can be set at the tip of the needle. The puncture marker can include a feature-coded block or a retroreflective marker. Then, the visual tracker acquires the needle's pose information in real time. Based on the needle's pose information, data such as the angular deviation of the needle relative to the optimal puncture path and the amplitude of tremor are calculated. Then, the phase deviation, angular deviation, and tremor amplitude data are weighted and summed to obtain a comprehensive spatial deviation value. The comprehensive spatial deviation value represents the accuracy or feasibility of the puncture under the current puncture conditions. For example, based on clinical or experimental data, corresponding weight values ​​are generated for data such as phase deviation and angular deviation. Then, the phase deviation and angular deviation data are fused by weighted summation or root mean square calculation to obtain the comprehensive spatial deviation value.

[0047] In one embodiment, the step of controlling the laser device to switch the visual modality of the laser based on the comprehensive spatial deviation value includes: Determine whether the overall spatial deviation value is greater than the deviation value threshold; If the overall spatial deviation value is less than or equal to the deviation value threshold, then the laser device is controlled to set the laser path to the first visual mode; If the overall spatial deviation value is greater than the deviation value threshold, the laser device is controlled to maintain the laser path in a second visual mode. The first visual mode is different from the second visual mode. The initial state of the laser path is the second visual mode. The first visual mode and the second visual mode are distinguished by at least one visual feature among color wavelength, beam brightness, or flicker frequency.

[0048] To determine whether the current conditions are suitable for puncture, after obtaining the comprehensive spatial deviation value, the comprehensive spatial deviation value is compared with the preset deviation value threshold. If the comprehensive spatial deviation value is less than or equal to the deviation value threshold, it is determined that the current conditions are suitable for puncture. In order to prompt the operator to perform puncture in a timely manner, the laser device can be controlled to set the laser path to the first visual modality.

[0049] For example, during testing or preliminary debugging, the laser path is set to the second visual modality, such as red light. When the puncture conditions are met, the laser path is switched to green light. Once the surgeon notices that the laser path has switched to green light, the puncture can be performed.

[0050] If the subject's breathing is not stable, or the operator's grip on the needle is inaccurate, such as hand tremors or misalignment, the calculated comprehensive spatial deviation value will be greater than the deviation threshold. In this case, the laser path will remain unchanged, i.e., it will remain in the second visual modality. If the operator finds that the laser path has not changed, he / she will determine that puncture cannot be performed at this time.

[0051] In addition, the first and second visual modalities can be represented in other ways, such as different color wavelengths, beam brightness, or flicker frequency.

[0052] This embodiment guides the operator to perform puncture by simply switching the visual modality of the laser path, simplifying the operation and improving the accuracy of puncture.

[0053] Photo of the meal Figure 3 , Figure 3 This is a schematic diagram illustrating the relationship between breathing phase, needle-holding posture, and visual modality provided in this embodiment.

[0054] In one implementation, the step of controlling the laser device to set the laser path to a first visual modality if the overall spatial deviation value is less than or equal to the deviation value threshold includes: The comprehensive spatial deviation value is sampled and timed through a preset time window; If the time during which the comprehensive spatial deviation value is less than or equal to the deviation value threshold is greater than or equal to the preset time window, then the laser device is controlled to set the laser path to the first visual mode. If the time for which the comprehensive spatial deviation value is less than or equal to the deviation value threshold is less than the preset time window, then the laser device is controlled to maintain the laser path in the second visual modality and the timing is reset.

[0055] Because the subject's physiological information, such as the respiratory phase, changes constantly, the respiratory phase may happen to be the same as or close to the reference phase at a certain moment. Alternatively, the operator may happen to be the same as or close to the reference position of the needle at a certain moment while adjusting the needle position. In such cases, the operator may need some time to react, which may result in missing the opportunity to perform the puncture.

[0056] To improve the success rate of punctures, a time-domain tolerance filtering algorithm can be used to calculate and judge physiological conditions. For example, the comprehensive spatial deviation value is sampled and timed within a preset time window. If the comprehensive spatial deviation value is less than or equal to the deviation threshold for a period of time greater than or equal to the preset time window, it indicates that the puncture conditions are relatively stable and puncture can be performed normally. Conversely, it indicates that the puncture conditions are not met, or that puncture can be performed at certain times, but the fluctuations are large, and the success rate cannot be guaranteed. This filter removes physiological tremors or transient noise.

[0057] In one embodiment, this embodiment also provides a puncture guidance system.

[0058] Please refer to Figure 4 , Figure 4This is a schematic diagram of a puncture guidance system provided in this embodiment.

[0059] The puncture guidance system is used to implement the puncture guidance method. The puncture guidance system can be divided into three logical layers at the software level: the perception input layer, the calculation processing layer, and the control output layer.

[0060] The perception input layer is used to collect the subject's respiratory waveform and the needle's pose information, and plan the optimal puncture path. Then, the respiratory waveform, pose information and the optimal puncture path are input into the calculation processing layer to calculate the comprehensive spatial deviation value. Based on the comprehensive spatial deviation value, the control result of the laser path is generated. The control output layer controls the laser device to emit the corresponding laser based on the control result of the laser path.

[0061] To perform the corresponding steps in the above embodiments and various possible methods, please refer to Figure 5 This embodiment also provides a functional block diagram of a puncture guidance system. It should be noted that the basic principle and technical effects of the puncture guidance system provided in this embodiment are the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The puncture guidance system includes: a puncture device and a laser device, wherein the puncture device includes a needle; The puncture guidance system 500 also includes: The laser path generation module 510 is used to acquire the subject's CT image information, generate an optimal puncture path based on the CT image information, and control the laser device to generate a laser path based on the optimal puncture path. The spatial geometric position of the laser path is fixed. The deviation value calculation module 520 is used to acquire the physiological information of the subject and the position information of the needle, and calculate the comprehensive spatial deviation value in real time based on the physiological information, the position information and the optimal puncture path. The puncture guidance module 530 is used to control the laser device to switch the visual modality of the laser path based on the comprehensive spatial deviation value, and to perform puncture guidance based on the visual modality.

[0062] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory shown may be stored in or embedded in the operating system (OS) of the puncture guidance system, and may be accessed by... Figure 1 The processor executes the commands. Meanwhile, the data and program code required to execute these modules can be stored in memory.

[0063] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0064] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0065] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0066] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A puncture guidance method, characterized in that, The method, applied to a puncture guidance system, wherein the puncture guidance system includes a puncture device and a laser device, the puncture device including a needle, comprises: The subject's CT image information is acquired, an optimal puncture path is generated based on the CT image information, and the laser device is controlled to generate a laser path based on the optimal puncture path, wherein the spatial geometric position of the laser path is fixed. Acquire the subject's physiological information and the needle's position information, and calculate the comprehensive spatial deviation value in real time based on the physiological information, the position information, and the optimal puncture path; Based on the comprehensive spatial deviation value, the laser device is controlled to switch the visual modality of the laser path, and puncture guidance is performed based on the visual modality.

2. The puncture guidance method according to claim 1, characterized in that, The step of acquiring the subject's CT image information and generating the optimal puncture path based on the CT image information includes: Acquire CT images of subjects during the stable respiratory phase; Based on the CT image information, the needle insertion point and lesion target point on the subject's body surface are determined, and the optimal puncture path is generated based on the needle insertion point and the lesion target point.

3. The puncture guidance method according to claim 2, characterized in that, The puncture device includes a positioning identifier, which is used to provide positioning information for the puncture needle. The step of controlling the laser device to generate a laser path based on the optimal puncture path includes: The puncture path of the needle is determined according to the optimal puncture path; The position of the positioning marker is determined based on the reverse extension line of the puncture path, and the laser path is generated according to the puncture path and the reverse extension line, the laser path coinciding with the puncture path and the reverse extension line.

4. The puncture guidance method according to claim 3, characterized in that, The physiological information includes respiratory phase, the puncture device further includes a visual tracker, and the tip of the needle is equipped with a puncture marker. The step of calculating the comprehensive spatial deviation value in real time based on the physiological information, the pose information, and the optimal puncture path includes: Obtain the reference phase corresponding to the subject's stable breathing phase, and calculate the phase deviation based on the breathing phase and the reference phase; The visual tracker identifies the puncture mark and obtains the position information of the needle based on the puncture mark. The angle deviation is calculated based on the position information of the needle and the path angle corresponding to the optimal puncture path. The comprehensive spatial deviation value is calculated in real time based on the phase deviation and the angle deviation.

5. The puncture guidance method according to claim 1, characterized in that, The step of controlling the laser device to switch the visual modality of the laser based on the comprehensive spatial deviation value includes: Determine whether the overall spatial deviation value is greater than the deviation value threshold; If the overall spatial deviation value is less than or equal to the deviation value threshold, then the laser device is controlled to set the laser path to the first visual mode; If the overall spatial deviation value is greater than the deviation value threshold, the laser device is controlled to maintain the laser path in a second visual mode. The first visual mode is different from the second visual mode. The initial state of the laser path is the second visual mode. The first visual mode and the second visual mode are distinguished by at least one visual feature among color wavelength, beam brightness, or flicker frequency.

6. The puncture guidance method according to claim 5, characterized in that, The step of controlling the laser device to set the laser path to the first visual modality if the overall spatial deviation value is less than or equal to the deviation value threshold includes: The comprehensive spatial deviation value is sampled and timed through a preset time window; If the time during which the comprehensive spatial deviation value is less than or equal to the deviation value threshold is greater than or equal to the preset time window, then the laser device is controlled to set the laser path to the first visual mode.

7. The puncture guidance method according to claim 6, characterized in that, The method further includes: If the time for which the comprehensive spatial deviation value is less than or equal to the deviation value threshold is less than the preset time window, then the laser device is controlled to maintain the laser path in the second visual modality and the timing is reset.

8. A puncture guidance system, characterized in that, The puncture guidance system includes a puncture device and a laser device, the puncture device including a needle, and the system further includes: The laser path generation module is used to acquire the subject's CT image information, generate an optimal puncture path based on the CT image information, and control the laser device to generate a laser path based on the optimal puncture path. The spatial geometric position of the laser path is fixed. The deviation value calculation module is used to acquire the physiological information of the subject and the position information of the needle, and calculate the comprehensive spatial deviation value in real time based on the physiological information, the position information and the optimal puncture path; The puncture guidance module is used to control the laser device to switch the visual modality of the laser path based on the comprehensive spatial deviation value, and to perform puncture guidance based on the visual modality.

9. An electronic device, characterized in that, It includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor to implement the puncture guidance method according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the puncture guidance method as described in any one of claims 1-7.

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