Ultrasound-guided vascular puncture apparatus, control method, and computer-readable storage medium

Abstract

Embodiments of the present application provide an ultrasound-guided vascular puncture apparatus, comprising: a manipulator arm; an ultrasound probe, configured for transmitting and receiving ultrasound signals, wherein the ultrasound probe is connected to the manipulator arm; a puncture needle, connected to the manipulator arm; and one or more processors, configured for: acquiring a blood vessel to be punctured input by a user; controlling the manipulator arm to drive the ultrasound probe to move to a body surface marker point corresponding to the blood vessel to be punctured, and controlling the ultrasound probe to transmit ultrasound signals; generating an actually measured image on the basis of the ultrasound signals received by the ultrasound probe; identifying the blood vessel to be punctured in the actually measured image to determine a puncture point; and controlling the manipulator arm to drive the puncture needle to puncture at the puncture point. Embodiments of the present application further provide a control method for the ultrasound-guided vascular puncture apparatus and a computer-readable storage medium.

Description

Ultrasound-guided blood vessel puncture device, control method and computer readable storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an ultrasound-guided blood vessel puncture device, a control method of the ultrasound-guided blood vessel puncture device and a computer readable storage medium. BACKGROUND

[0002] Blood vessel puncture under ultrasound guidance is a necessary step for many interventional diagnosis and treatment methods. The ultrasound-guided blood vessel puncture device provided in the related art still needs manual operation to complete the blood vessel puncture step, which requires high professional skills of the operator, and automatic puncture is expected.

[0003] SUMMARY

[0004] In view of the above problems, the present application is proposed in order to provide an ultrasound-guided blood vessel puncture device, a control method of the ultrasound-guided blood vessel puncture device and a computer readable storage medium which overcome the above problems or at least partially solve the above problems.

[0005] According to a first aspect of the embodiments of the present application, an ultrasound-guided blood vessel puncture device is provided, comprising: a mechanical arm; an ultrasound probe for emitting and receiving ultrasound signals, the ultrasound probe being connected to the mechanical arm; a puncture needle, the puncture needle being connected to the mechanical arm; and one or more processors, the one or more processors being configured to: obtain a user-inputted blood vessel to be punctured; control the mechanical arm to move the ultrasound probe to a body surface landmark point corresponding to the blood vessel to be punctured, and control the ultrasound probe to emit ultrasound signals; generate a measured image based on the ultrasound signals received by the ultrasound probe; identify the blood vessel to be punctured in the measured image to determine a puncture point; and control the mechanical arm to complete puncture from the puncture point by the puncture needle.

[0006] According to a second aspect of the embodiments of the present application, a control method of an ultrasound-guided blood vessel puncture device is provided, the ultrasound-guided blood vessel puncture device comprising a mechanical arm, and an ultrasound probe and a puncture needle connected to the mechanical arm, the method comprising: obtaining a user-inputted blood vessel to be punctured; controlling the mechanical arm to move the ultrasound probe to a body surface landmark point corresponding to the blood vessel to be punctured, and controlling the ultrasound probe to emit ultrasound signals; generating a measured image based on the ultrasound signals received by the ultrasound probe; identifying the blood vessel to be punctured in the measured image to determine a puncture point; and controlling the mechanical arm to complete puncture from the puncture point by the puncture needle.

[0007] According to a third aspect of the embodiments of the present application, a computer readable storage medium is provided, the computer readable storage medium having stored thereon a computer program, the computer program being configured to cause a computer to implement the method according to the second aspect of the embodiments of the present application.

[0008] The ultrasonic-guided blood vessel puncture device, the control method of the ultrasonic-guided blood vessel puncture and the computer readable storage medium provided by the embodiments of the present application can automatically control the mechanical arm to drive the ultrasonic probe and the puncture needle to complete the blood vessel puncture operation under the ultrasonic guidance, thereby reducing the operation difficulty and reducing the workload of the operator. BRIEF DESCRIPTION OF DRAWINGS

[0009] Fig. 1 is a schematic diagram of an ultrasonic-guided blood vessel puncture device according to an embodiment of the present application;

[0010] Fig. 2 is a schematic diagram of an ultrasonic-guided blood vessel puncture device according to another embodiment of the present application;

[0011] Fig. 3 is a schematic diagram of an ultrasonic-guided puncture device according to still another embodiment of the present application;

[0012] Fig. 4 is a schematic diagram of an ultrasonic-guided puncture device according to still another embodiment of the present application;

[0013] Fig. 5 is a schematic diagram of a puncture point determined according to an embodiment of the present application;

[0014] Fig. 6 is a schematic diagram of the detection center of an ultrasonic probe aligning with a puncture point according to an embodiment of the present application;

[0015] Fig. 7 is a schematic diagram of the length change of a blood vessel to be punctured in a measured image during the rotation of an ultrasonic probe according to an embodiment of the present application;

[0016] Fig. 8 is a schematic diagram of the cross-section change of a blood vessel to be punctured in a measured image when the angle between the ultrasonic signal detection axis of an ultrasonic probe and the body surface changes according to an embodiment of the present application;

[0017] Fig. 9 is a schematic diagram of an ultrasonic probe and a puncture needle according to an embodiment of the present application;

[0018] Fig. 10 is a schematic diagram of an ultrasonic probe and a puncture needle according to another embodiment of the present application;

[0019] Fig. 11 is a schematic diagram of a force feedback member and a pressure measuring member according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application.

[0021] The embodiments of the present application first provide an ultrasonic-guided blood vessel puncture device, referring to Fig. 1, which comprises a mechanical arm 10, an ultrasonic probe 20, a puncture needle 30 and one or more processors 40.

[0022] The ultrasound probe 20 is used to emit and receive ultrasound signals, which can be any suitable ultrasound probe provided in the relevant art, without limitation.

[0023] The puncture needle 30 can be any suitable puncture needle provided in the relevant art, and different specifications of puncture needles can be required for different blood vessels to be punctured, and a person skilled in the art can select according to actual needs. In actual use, the needle cavity of the puncture needle 30 can be connected to different external devices according to different operation types, for example, when performing an interventional implantation operation, it can be necessary to pass a guide wire through the needle cavity of the puncture needle 30, and a person skilled in the art can set it up according to actual needs.

[0024] The ultrasound probe 20 and the puncture needle 30 are both connected to the mechanical arm 10, so that the mechanical arm 10 can drive the ultrasound probe 20 to move to obtain a suitable ultrasound image, and at the same time, the mechanical arm 10 can also drive the puncture needle 30 to move to complete the puncture operation.

[0025] The mechanical arm 10 can be any suitable mechanical arm provided in the relevant art, and the mechanical arm 10 can be configured to drive the ultrasound probe 20 and the puncture needle 30 to achieve any movement operation required in the process of ultrasound-guided vascular puncture. As an example, the mechanical arm 10 has a plurality of arms connected to each other, and the arms can be connected through bearings, sliding rails, etc. to make the arms slide, rotate, etc. relative to each other to drive the connected ultrasound probe 20 and puncture needle 30 to move in multiple degrees of freedom.

[0026] The ultrasound probe 20 and the puncture needle 30 can be respectively connected to two mechanical arms 10 independent of each other, or the ultrasound probe 20 and the puncture needle 30 can also be connected to different arms of the same mechanical arm 10, without limitation.

[0027] In some embodiments, referring to FIG. 2, the puncture needle 30 can be connected to the ultrasound probe 20, and in these embodiments, the movement range of the puncture needle 30 will be limited by the posture of the ultrasound probe 20, which will make the action of the mechanical arm 10 driving the puncture needle 30 to puncture simplified, but also puts higher requirements on the positioning of the ultrasound probe 20. The ultrasound probe 20 needs to move to a suitable position and be in a suitable posture to successfully complete the puncture operation.

[0028] In some other embodiments, the puncture needle 30 can move completely independently of the ultrasound probe 20 (such as the embodiment shown in FIG. 1), which reduces the positioning requirements of the ultrasound probe 20, but puts higher requirements on the movement accuracy of the mechanical arm 10.

[0029] Still referring to FIG. 1, in actual use, the patient 1 can lie on the operating bed 2 (operating table), and one end of the mechanical arm 10 can be fixed at any suitable position (e.g., the head of the examination bed, the edge of the bed, or the ground, table, etc. near the operating bed) near the operating bed, as long as the range of movement of the ultrasound probe 20 and the puncture needle 30 driven by the mechanical arm 10 can cover the position to be examined. In some embodiments, one end of the mechanical arm 10 can be fixed on a movable base 3, so that the ultrasound probe can be moved to any suitable position for work according to actual use requirements.

[0030] The one or more processors 40 are electrically connected with the mechanical arm 10, the ultrasound probe 20, etc., so as to control the mechanical arm 10 to move, control the ultrasound probe 20 to emit and receive ultrasound signals, etc. The one or more processors 40 can be integrated on a terminal device, which can be, for example, a computer, a tablet computer, a mobile phone, or any other terminal capable of performing related functions. The terminal device can be electrically connected with the mechanical arm 10 and the ultrasound probe 20 through any suitable connection mode such as wired connection or wireless connection, so as to realize the electrical connection between the one or more processors 40 and the mechanical arm 10 and the ultrasound probe 20. In some other embodiments, the one or more processors 40 can also be integrated in the mechanical arm 10 or the ultrasound probe 20, which is not limited. The one or more processors 40 can interact with the user in a suitable manner, for example, the one or more processors 40 can be connected to a suitable interaction device such as a mouse, a keyboard, a touch screen, etc.

[0031] In actual use, the one or more processors 40 can acquire the puncture blood vessel input by the user, and in the following, the femoral artery or the femoral vein will be mainly taken as an example of the puncture blood vessel to be described in more detail, however, it should be understood by those skilled in the art that the puncture blood vessel can be any blood vessel to be punctured.

[0032] After acquiring the puncture blood vessel input by the user, the one or more processors 40 can control the mechanical arm 10 to drive the ultrasound probe 20 to move to the body surface landmark point corresponding to the puncture blood vessel and control the ultrasound probe 20 to emit ultrasound signals. For example, when the femoral artery or the femoral vein is punctured, the mechanical arm 10 can be controlled to drive the ultrasound probe 20 to move to the groin of the patient. It is a general skill possessed by those skilled in the art to determine the body surface landmark point corresponding to the puncture blood vessel, and the corresponding relationship between these puncture blood vessels and the body surface landmark points can be pre-stored in a database associated with the one or more processors 40, and the one or more processors 40 can call the relevant data to determine the body surface landmark point, which will not be described here.

[0033] Next, the one or more processors 40 can generate a measured image based on the ultrasound signals received by the ultrasound probe 20, the measured image being an image obtained by analyzing and processing the ultrasound signals received by the ultrasound probe 20 in real time, and the specific analysis and processing method can refer to the ultrasound signal processing method provided in the related art, which will not be described here.

[0034] Next, the one or more processors 40 can identify the blood vessel to be punctured in the measured image to determine the puncture point.

[0035] The blood vessel to be punctured in the measured image can be identified by image recognition technology, for example, the identification of the blood vessel to be punctured in the measured image can be implemented by using an image recognition technology based on a neural network model, specifically, the ultrasound images of the blood vessel to be punctured can be collected by big data and the neural network model can be trained so that the neural network model can identify the blood vessel to be punctured. The identification methods of several blood vessels to be punctured will be described in detail in the related part below, which will not be described here.

[0036] After identifying the blood vessel to be punctured, the puncture point can be determined, for example, a point on the center axis of the blood vessel to be punctured in the measured image can be determined as the puncture point, or the skilled person can select the determination rule of the puncture point according to the specific needs of the actual puncture, which is not limited.

[0037] After determining the puncture point, the one or more processors 40 can control the mechanical arm 10 to drive the puncture needle 30 to complete the puncture from the puncture point. It can be understood that the one or more processors 40 determine the puncture point in the ultrasound image, therefore, when actually controlling the mechanical arm 10 to drive the puncture needle 30 to puncture, the one or more processors 40 need to determine the path of moving the puncture needle 30 according to the position of the puncture point in the ultrasound image, the position of the ultrasound probe 20, and the relationship between the ultrasound image and the ultrasound probe 20, etc. to ensure that the puncture needle 30 completes the puncture from the determined puncture point.

[0038] In some embodiments, the ultrasound-guided blood vessel puncture device further comprises a positioning member 50 for providing position information of a body surface landmark point corresponding to the blood vessel to be punctured. When the one or more processors 40 control the mechanical arm 10 to move the ultrasound probe 20 to the body surface landmark point corresponding to the blood vessel to be punctured, the one or more processors 40 can control the mechanical arm 10 to move the ultrasound probe 20 to the body surface landmark point corresponding to the blood vessel to be punctured based on the position information provided by the positioning member 50.

[0039] In some embodiments, referring to FIG. 3, the positioning member 50 can be a laser positioning device arranged above the operating bed 2, which can check the body structure of the subject by emitting laser light, and then obtain the positioning information of the body surface landmark point.

[0040] In some embodiments, referring to FIG. 4, the positioning member 50 can be a device capable of sending its own position information, which can be placed in advance by the relevant operator at the position of the body surface marker point.

[0041] In some other embodiments, the positioning member 50 can not be provided, and a camera can be provided on the mechanical arm 10 or the ultrasonic probe 20, and the one or more processors 40 can identify the position of the body surface marker point according to the image obtained by the camera, and then control the mechanical arm 10 to move the ultrasonic probe 20. In these embodiments, a mark that is easy to be recognized by the image can be provided in advance at the body surface marker point, for example, a mark is made by using a black marker pen, so as to improve the efficiency of the one or more processors in identifying the body surface marker point.

[0042] In some embodiments, when the one or more processors 40 identify the blood vessel to be punctured in the measured image, the one or more processors 40 can first obtain a standard image, the standard image including the blood vessel to be punctured and the surrounding tissue of the blood vessel to be punctured, and then the one or more processors 40 can identify the blood vessel to be punctured in the measured image based on the standard image.

[0043] The standard image herein refers to an image that should be obtained when the blood vessel to be punctured is subjected to ultrasonic examination in a manner conforming to the relevant standards in the field. Since a single blood vessel usually does not have a marker, in addition to the blood vessel to be punctured, the surrounding tissue of the blood vessel to be punctured should also be present in the standard image, so that there is a significant difference between the standard images of different blood vessels to be punctured, and so that the one or more processors can more quickly identify the blood vessel to be punctured with the aid of these surrounding tissues. These surrounding tissues can be muscle tissue, organs, or other blood vessels around the blood vessel, etc.

[0044] The shape of the blood vessel selected for puncture in the ultrasonic image has high similarity between different patients, and therefore, the standard image can be obtained by big data, and the same standard image can be used for the identification of the blood vessel to be punctured for different patients. The standard images of different blood vessels to be punctured can be pre-stored in a storage, a database, etc. associated with the one or more processors 40, and the one or more processors 40 can obtain the standard image corresponding to the blood vessel to be punctured by searching after receiving the user input of the blood vessel to be punctured.

[0045] In some other embodiments, the standard image of the blood vessel to be punctured can also correspond to a specific patient, i.e., different standard images are used for different patients, which will increase the workload of preoperative preparation, but will also improve the accuracy of identification. In these embodiments, the operator can need to perform an ultrasound examination on the patient in advance to obtain the standard image, and then store the standard image in association with the patient information in a memory, a database, or the like associated with the one or more processors 40. When the user inputs the blood vessel to be punctured, the patient information should also be input, so that the one or more processors 40 can retrieve the standard image of the blood vessel to be punctured associated with the patient information.

[0046] When identifying the blood vessel to be punctured based on the standard image, the one or more processors 40 can perform comparative analysis on the measured image and the standard image to find the blood vessel in the measured image corresponding to the blood vessel to be punctured in the standard image, which is the blood vessel to be punctured in the measured image. As an example, the one or more processors 40 can perform comparative analysis on the feature points of each tissue in the measured image and the feature points of each tissue in the standard image, and then determine the blood vessel in the measured image corresponding to the blood vessel to be punctured in the standard image.

[0047] In some embodiments, the one or more processors 40 can also obtain a matching degree between the measured image and the standard image, and control the movement of the mechanical arm 10 to move the ultrasound probe 20 based on the matching degree until the matching degree between the measured image and the standard image is higher than a preset value.

[0048] It can be understood that in the above embodiments, the one or more processors 40 only control the mechanical arm 10 to move the ultrasound probe 20 to the body surface landmark point corresponding to the blood vessel to be punctured, which cannot ensure that the measured image and the standard image are close enough, and thus the blood vessel to be punctured can not be successfully identified in the measured image. Therefore, in this embodiment, the matching degree between the measured image and the standard image is further obtained, and then the position of the ultrasound probe 20 is adjusted based on the matching degree until the matching degree between the measured image and the standard image is higher than a preset value, so as to ensure that the blood vessel to be punctured can be identified from the measured image.

[0049] In some embodiments, when the movement of the mechanical arm 10 to move the ultrasound probe 20 is controlled based on the matching degree, the range of movement can be determined based on the matching degree, for example, when the matching degree is relatively low, a relatively large movement range can be selected, and when the matching degree is relatively high, a relatively small movement range can be selected, so as to improve the efficiency of adjustment.

[0050] In the process of controlling the robot arm 10 to move the ultrasound probe 20, any suitable movement mode can be adopted, for example, the ultrasound probe 20 can be rotated or translated on the body surface, or the angle between the ultrasound signal emission axis of the ultrasound probe 20 and the body surface can be changed, and the like.

[0051] In some embodiments, the one or more processors 40 can also control the ultrasound probe to emit a Doppler ultrasound signal when identifying the blood vessel to be punctured in the measured image, and then identify the blood vessel to be punctured in the measured image based on the Doppler ultrasound signal received by the ultrasound probe. The Doppler ultrasound signal can show the blood flow and direction in the image, so the one or more processors 40 can identify the blood vessel in the measured image based on the Doppler ultrasound signal, and further distinguish the arteries and veins according to the blood flow direction, thereby identifying the blood vessel to be punctured in the measured image.

[0052] The identification of the blood vessel to be punctured by means of the Doppler ultrasound signal can avoid misidentifying other tissues as blood vessels. Moreover, it can avoid confusion between the blood vessel to be punctured and surrounding blood vessels, for example, the femoral artery and the femoral vein are usually parallel, and they will have significant differences under the Doppler ultrasound signal.

[0053] The skilled person can identify the blood vessel to be punctured by means of the Doppler ultrasound signal and the standard image at the same time, or use one of them alone, or use other suitable methods, which are not limited.

[0054] In some embodiments, after the one or more processors 40 control the robot arm 10 to move the ultrasound probe 20 to the body surface landmark corresponding to the blood vessel to be punctured, the one or more processors 40 can control the robot arm 10 to adjust the posture of the ultrasound probe 20 so that the length direction of the ultrasound probe 20 is substantially perpendicular to the blood vessel to be punctured.

[0055] Referring to FIG. 5, the ultrasound probe 20 usually has a length direction and a width direction, and the one or more processors 40 adjust the initial detection posture of the ultrasound probe 20 to a direction in which the length direction is substantially perpendicular to the blood vessel to be punctured. At this time, a transverse section of the blood vessel to be punctured 4 will be presented in the measured image, and the range occupied by the transverse section in the entire measured image is relatively small, so there is still a large space in the measured image to show other tissues around the blood vessel to be punctured 4, thereby facilitating the identification of the blood vessel to be punctured in the measured image by using the method described above.

[0056] The length direction here refers to the length direction of the detection surface (i.e., the plane from which the ultrasonic signals are emitted) of the ultrasonic probe 20. The course of the blood vessel to be punctured is relatively fixed, and a person skilled in the art can set the posture parameter of the ultrasonic probe 20 in advance for each blood vessel to be punctured according to relevant anatomical knowledge, so that the length direction of the ultrasonic probe 20 can be adjusted to a direction substantially perpendicular to the blood vessel to be punctured according to the posture parameter. The posture parameter can be set relative to the body surface marker point. For example, when puncturing the femoral artery or the femoral vein, since the femoral artery or the femoral vein is usually perpendicular to the inguinal ligament, the ultrasonic probe 20 can be moved to the inguinal region, and the length direction of the ultrasonic probe 20 can be adjusted to be parallel to the inguinal ligament.

[0057] As described above, in some embodiments, the movement of the ultrasonic probe 20 needs to be based on the matching degree, and in the present embodiment, since the ultrasonic probe 20 has already been in a relatively appropriate orientation, when the ultrasonic probe 20 is controlled to move based on the matching degree, the ultrasonic probe 20 can not need to change the ultrasonic, but mainly move in a translational manner.

[0058] In some embodiments, after determining the puncture point, the one or more processors 40 can further control the mechanical arm 10 to move the ultrasonic probe 20 so that the detection center of the ultrasonic probe 20 is aligned with the puncture point, and then control the mechanical arm 10 to rotate the ultrasonic probe 20 around the puncture point on the body surface.

[0059] During the rotation, the one or more processors 40 can determine the length variation of the blood vessel to be punctured in the measured image, and determine the orientation of the ultrasonic probe 20 when the length of the blood vessel to be punctured is the longest as the puncture orientation when the mechanical arm 10 is controlled to puncture with the puncture needle 30.

[0060] The puncture orientation here refers to the direction of the projection of the puncture needle 30 on the plane of the body surface. Generally, it is expected that the puncture direction is substantially the same as the extension direction of the blood vessel to avoid touching the blood vessel wall when the puncture needle 30 travels in the blood vessel. In some embodiments described above, the ultrasonic probe 20 is adjusted to an orientation in which the length direction is substantially perpendicular to the blood vessel to be punctured, and in this orientation, the width direction of the ultrasonic probe 20 should be substantially parallel to the blood vessel to be punctured. However, it can be understood that the above orientation is determined according to the body surface marker point and anatomical knowledge, and in some cases, there can be a large error. Therefore, the ultrasonic probe 20 is further rotated in the present embodiment to more accurately determine the puncture orientation.

[0061] Specifically, after the puncture point is determined, the one or more processors 40 can control the robotic arm 10 to move the ultrasound probe 20 so that the detection center of the ultrasound probe 20 is aligned with the puncture point. Referring to FIG. 6, the detection center of the ultrasound probe refers to the center of the coverage range of the ultrasound signal emitted by the ultrasound probe, in other words, the center point of the real-time image. The one or more processors 40 can determine the moving direction of the ultrasound probe 20 based on the current position of the puncture point in the real-time image, so as to align the detection center of the ultrasound probe 20 with the puncture point 5, in other words, to adjust the puncture point 5 to the center of the real-time image.

[0062] The purpose of aligning the detection center of the ultrasound probe 20 with the puncture point is to ensure that the blood vessel to be punctured can always appear in the real-time image during the rotation of the ultrasound probe 20. Referring to FIG. 7, during the rotation of the ultrasound probe 20, the coverage range of the ultrasound probe 20 changes, so that the length of the blood vessel to be punctured in the real-time image will change. When the length of the blood vessel to be punctured in the real-time image is the longest, the length direction of the ultrasound probe 20 is parallel to the blood vessel to be punctured. The one or more processors 40 can determine the puncture direction according to the orientation, so as to ensure that the puncture needle 30 can travel in the blood vessel along a direction substantially parallel to the blood vessel wall.

[0063] After the puncture direction is determined, the one or more processors 40 can determine the relevant control parameters to control the robotic arm 10 to drive the puncture needle 30 to puncture from the puncture point along the puncture direction.

[0064] In some embodiments, the one or more processors 40 can first rotate the ultrasound probe 20 by 90 degrees, that is, rotate the ultrasound probe 20 to a direction substantially parallel to the blood vessel to be punctured, and then perform a small range of rotation, so as to improve the efficiency of determining the puncture direction.

[0065] In some other embodiments, the one or more processors 40 can also calculate the puncture direction according to the orientation of the blood vessel to be punctured in the real-time image and the orientation of the ultrasound probe 20.

[0066] In some embodiments, after controlling the robotic arm 10 to move the ultrasound probe 20 to the body surface landmark point corresponding to the blood vessel to be punctured, the one or more processors 40 can further control the robotic arm 10 to adjust the posture of the ultrasound probe 20 so that the ultrasound signal emission axis of the ultrasound probe 20 is substantially perpendicular to the body surface.

[0067] The ultrasound signal emission axis herein refers to an axis parallel to the propagation direction of the ultrasound signal. In some embodiments described above, the posture of the ultrasound probe 20 is adjusted so that the length direction is substantially perpendicular to the blood vessel to be punctured. In fact, what is adjusted is the orientation of the ultrasound probe 20 on the body surface. Referring to FIG. 8, what is adjusted in the present embodiment is the angle between the ultrasound signal emission axis of the ultrasound probe 20 and the body surface, i.e., the inclination angle of the ultrasound probe 20 relative to the body surface. Therefore, the posture of the ultrasound probe 20 can be adjusted so that the length direction is substantially perpendicular to the blood vessel to be punctured and the ultrasound signal emission axis is substantially perpendicular to the body surface at the same time.

[0068] As can be clearly seen from FIG. 8, due to the certain depth of the blood vessel, the blood vessel to be punctured 4 may not appear in the measured image even if the ultrasound probe 20 is placed at the correct position at some inclination angles. In the present embodiment, the initial inclination angle of the ultrasound signal emission axis of the ultrasound probe 20 is set to be substantially perpendicular to the body surface. At this angle, as long as the ultrasound probe 20 is at the correct position, a cross section of the blood vessel to be punctured 4 can be observed in the ultrasound probe 20, avoiding the situation that the blood vessel to be punctured 4 does not appear in the measured image.

[0069] Similarly, in the embodiments, if the ultrasound probe 20 needs to be moved based on the matching degree between the measured image and the standard image, the angle between the ultrasound signal emission axis of the ultrasound probe 20 and the body surface can not be changed, and mainly translational adjustment is adopted.

[0070] In some embodiments, the one or more processors 40 can also control the mechanical arm 10 to move the ultrasound probe 20 so that the detection center of the ultrasound probe 20 is aligned with the puncture point after determining the puncture point, and determine the angle between the ultrasound signal emission axis and the body surface at this time as the initial angle. Then, the one or more processors 40 control the mechanical arm 10 to rotate the ultrasound probe 20 about the puncture point so that the angle between the ultrasound signal emission axis of the ultrasound probe 20 and the body surface changes. During the rotation, the one or more processors 40 can track the blood vessel to be punctured in the measured image to determine the terminal angle, which is the angle between the ultrasound signal emission axis of the ultrasound probe and the body surface when the blood vessel to be punctured disappears in the measured image. Then, the puncture angle when the mechanical arm drives the puncture needle to puncture is determined based on the initial angle and the terminal angle.

[0071] The puncture angle is the angle between the puncture needle 30 and the body surface during puncture. During the puncture process, it is generally desired that the puncture needle 30 can complete the puncture along an angle of approximately 45 degrees with the blood vessel wall to avoid the puncture needle 30 puncturing the blood vessel as much as possible. An angle of 45 degrees with the plane of the body surface can be selected as the puncture angle, but the blood vessel wall is not always parallel to the plane of the body surface, and thus the angle cannot guarantee that the puncture needle 30 is approximately 45 degrees with the blood vessel wall. Therefore, the method described above is used in the embodiment to determine the puncture angle.

[0072] Still referring to FIG. 8, the ultrasound probe 20 is in the initial state at the leftmost position in the figure, and during the rotation, the cross section of the blood vessel displayed on the measured image will change. When rotated to the rightmost position in the figure, the ultrasound signal emission axis of the ultrasound probe 20 is approximately parallel to the blood vessel wall at this time, and thus the cross section of the blood vessel in the measured image will disappear. The one or more processors 40 can record the angle between the ultrasound signal emission axis and the body surface at this time as the termination angle, and then select an angle between the initial angle and the termination angle as the puncture angle, for example, the angle of the ultrasound signal emission axis of the ultrasound probe 20 at the middle position in the figure is selected as the puncture angle.

[0073] In some embodiments, since the initial angle of the ultrasound signal emission axis of the ultrasound probe 20 is approximately perpendicular to the body surface, it can be considered that the ultrasound signal emission axis is also approximately perpendicular to the blood vessel wall at this time, and when the blood vessel to be punctured disappears in the measured image (i.e., when the ultrasound signal emission axis is at the termination angle), it can be considered that the ultrasound signal emission axis is approximately parallel to the blood vessel wall. Therefore, the one or more processors 40 can determine the middle angle between the initial angle and the termination angle as the puncture angle, and the angle between the middle angle and the blood vessel wall is close to 45 degrees.

[0074] It can be understood that during the actual puncture process, the puncture needle 30 is oriented along the extension direction of the blood vessel, and thus in the above-described embodiments, it is preferred that the ultrasound probe 20 should keep the length direction approximately perpendicular to the blood vessel to be punctured during the rotation, i.e., the cross section of the blood vessel to be punctured is tracked, and the longitudinal interface of the blood vessel to be punctured is avoided. In addition, the ultrasound signal emission axis should be rotated to the direction that is at an acute angle with the extension direction of the blood vessel (the direction of the needle).

[0075] In some other embodiments, the one or more processors 40 can also directly select an angle of 45 degrees with the plane of the body surface as the puncture angle, as described above. Alternatively, the one or more processors 40 can also estimate the angle between the blood vessel to be punctured and the plane of the body surface through the measured image, and then calculate the puncture angle.

[0076] In some embodiments, the one or more processors 40 can first determine the puncture point, then determine the puncture orientation, and finally determine the puncture angle, and then calculate the control parameters based on the puncture point, the puncture orientation and the puncture angle, and control the robotic arm 10 based on the control parameters, so that the robotic arm 10 drives the puncture needle 30 to complete the puncture from the puncture point along the puncture orientation and the puncture angle.

[0077] The execution order of determining the puncture orientation and determining the puncture angle can be freely changed, however, as described above, it is best to track the cross section of the blood vessel to be punctured when determining the puncture angle, therefore, in preferred embodiments, the step of determining the puncture orientation can be first executed, in which the ultrasound probe 20 is adjusted to a position in which the length direction is parallel to the extension direction of the blood vessel to be punctured, and then the ultrasound probe 20 can be rotated 90 degrees around the puncture point, at which time the length direction of the ultrasound probe 20 is perpendicular to the extension direction of the blood vessel to be punctured, and then the step of determining the puncture orientation is executed while maintaining this orientation.

[0078] In some embodiments, referring to FIG. 9, the puncture needle 30 can be connected with the ultrasound probe 20, specifically, a needle slot 21 can be provided in the ultrasound probe 20, the extension direction of the needle slot 21 can be the same as the ultrasound signal emission axis of the ultrasound probe 20, and the puncture needle 30 can be slidingly arranged in the needle slot 21. An ejection needle hole 22 can be provided on the ultrasound signal emission surface of the ultrasound probe 20, and the needle slot 21 can be in communication with the ejection needle hole 22.

[0079] The robotic arm 10 can be configured to push the puncture needle 30 to slide in the needle slot 21, in such embodiments, since the extension direction of the needle slot 21 is the same as the extension direction of the ultrasound signal emission axis of the ultrasound probe 20, and the ejection needle hole 22 is provided on the detection center, therefore, during actual puncture, the puncture orientation of the puncture needle 30 will be the same as the width direction of the ultrasound probe 20, the puncture angle will be the same as the ultrasound signal emission angle of the ultrasound probe 20, and the ejection needle position will coincide with the detection center of the ultrasound probe 20.

[0080] In this embodiment, the one or more processors 40 can move the ejection needle hole 22 of the ultrasound probe 20 to coincide with the puncture point, and then use the method described above to adjust the posture of the ultrasound probe 20 to determine the puncture orientation and the puncture angle, the difference being that in this embodiment the ultrasound probe 20 can be directly maintained in the adjusted posture, and then the robotic arm 10 is directly controlled to push the puncture needle 30 to puncture, i.e., there is no need to convert the puncture orientation and the puncture angle into control parameters of the robotic arm 10, thereby saving the calculation process of the control parameters of the robotic arm 10, and improving the operation efficiency.

[0081] In another embodiment, referring to FIG. 10, the ultrasound probe 20 is provided with a needle slot 21, and the ultrasound probe 20 is provided with a needle outlet hole 22 on the ultrasound signal emission surface of the ultrasound probe 20, and the needle slot 21 is in communication with the needle outlet hole 22. The difference is that the angle between the needle slot 21 and the ultrasound signal emission surface of the ultrasound probe 20 in this embodiment is 45 degrees, so that the one or more processors only need to adjust the puncture direction after the needle outlet hole 22 is moved to coincide with the puncture point during the actual puncture process, without the need to adjust the puncture angle, and directly control the mechanical arm 10 to drive the puncture needle 30 to complete the puncture along the needle slot 21. For some blood vessels that are roughly parallel to the body surface (for example, the femoral artery), such a setting can not only ensure that the puncture needle 30 is inserted into the blood vessel at an angle of about 45 degrees with the blood vessel wall, but also further improve the efficiency of puncture.

[0082] In these embodiments, the projection of the needle slot 21 on the ultrasound signal emission surface can be parallel to the length direction of the ultrasound probe 20, or parallel to the width direction of the ultrasound probe 20. Understandably, when the projection is parallel to the length direction, the length direction should be parallel to the blood vessel extension direction when adjusting the puncture direction, and when the projection is parallel to the width direction, the width direction should be parallel to the blood vessel extension direction when adjusting the puncture direction.

[0083] In the above embodiments, the needle outlet hole 22 can be provided at the center of the ultrasound signal detection of the ultrasound probe 20, so that the needle outlet hole 22 can be more efficiently and accurately aligned with the puncture point.

[0084] In some embodiments, referring to FIG. 11, the ultrasound-guided blood vessel puncture device further comprises a force feedback member 60 connected with the puncture needle to measure the force on the needle tip of the puncture needle. The force feedback member 60 can be a device such as a pressure sensor, and the installation position thereof can be determined by the type of the force feedback member 60 selected, which is not limited.

[0085] In this embodiment, the one or more processors 40 can control the puncture stroke of the puncture needle when controlling the mechanical arm 10 to drive the puncture needle 30 to puncture, based on the force on the needle tip measured by the force feedback member 60. As an example, when the puncture needle 30 pierces the blood vessel wall, a force mutation will occur, and the one or more processors 40 can determine whether the puncture needle 30 has entered the blood vessel according to the mutation. When the puncture needle 30 continues to travel and the force on the needle tip increases, it means that the puncture needle 30 has reached the blood vessel wall on the other side, and at this time the one or more processors 40 can prevent the puncture needle 30 from continuing to travel to avoid the puncture needle 30 from piercing the blood vessel.

[0086] In some embodiments, still referring to FIG. 10, the ultrasound-guided vascular puncture device can further include a pressure sensor 70 connected to the needle lumen of the puncture needle 30 to measure the pressure of the needle lumen of the puncture needle 30. The pressure sensor 70 can be a device such as a hydraulic sensor, for example. The pressure sensor 70 can be in communication with the needle lumen of the puncture needle 30, for example, and can sense a rise in hydraulic pressure when blood rushes into the needle lumen of the puncture needle 30. As described above, after the puncture is completed, it is often necessary to deliver a guide wire or a drug, etc. through the needle lumen of the puncture needle 30. To avoid the pressure sensor 70 affecting the delivery of the guide wire, a three-way structure can be provided on the puncture needle 30, and the pressure sensor 70 can be connected to the needle lumen through one of the openings, while the guide wire, etc. can enter the needle lumen through another opening.

[0087] In this embodiment, the one or more processors 40 can determine the puncture end point of the puncture needle 30 based on the pressure of the needle lumen measured by the pressure sensor 70 when the mechanical arm 10 is controlled to drive the puncture needle 30 to puncture.

[0088] Specifically, in some embodiments, when the mechanical arm 10 is controlled to drive the puncture needle 30 to puncture, the one or more processors 40 can monitor the change in the force on the needle tip measured by the force feedback device, and when a sudden change in the force on the needle tip is determined, the first position of the puncture needle 30 at that moment is recorded, which is the position where the puncture needle 30 just enters the blood vessel to be punctured.

[0089] Next, the one or more processors 40 can control the mechanical arm 10 to drive the puncture needle 30 to continue to travel a predetermined distance from the first position to reach a second position. The predetermined distance can be determined according to the diameter of the blood vessel to be punctured, and should avoid the puncture needle 30 to resist the blood vessel wall on the other side to avoid puncturing the blood vessel. In some other embodiments, the one or more processors 40 can also continuously monitor the force on the needle tip measured by the force feedback device 60, and determine the position of the puncture needle 30 when the force on the needle tip rises as the second position.

[0090] Next, the one or more processors 40 can control the mechanical arm 10 to drive the puncture needle 30 to reciprocate between the first position and the second position, and monitor the pressure of the needle lumen measured by the pressure sensor 70 during the movement, and determine the position with the highest pressure of the needle lumen as the puncture end point of the puncture needle 30.

[0091] The embodiment of the present application also provides a control method of the ultrasound-guided blood vessel puncture device, which can be executed by one or more processors, which can be integrated in the ultrasound-guided blood vessel puncture device, or the one or more processors can be integrated in a terminal device which can be electrically connected with the ultrasound-guided blood vessel puncture device so that the one or more processors can control the ultrasound-guided blood vessel puncture device. The ultrasound-guided blood vessel puncture device comprises a mechanical arm, and an ultrasound probe and a puncture needle connected with the mechanical arm.

[0092] Specifically, the method provided by the embodiment comprises: acquiring a blood vessel to be punctured input by a user; controlling the mechanical arm to drive the ultrasound probe to move to a body surface landmark point corresponding to the blood vessel to be punctured, and controlling the ultrasound probe to emit an ultrasound signal; generating a measured image based on the ultrasound signal received by the ultrasound probe; identifying the blood vessel to be punctured in the measured image to determine a puncture point; and controlling the mechanical arm to drive the puncture needle to complete puncture from the puncture point.

[0093] In some embodiments, the identification of the blood vessel to be punctured in the measured image comprises: acquiring a standard image, the standard image comprising the blood vessel to be punctured and surrounding tissue of the blood vessel to be punctured; and identifying the blood vessel to be punctured in the measured image based on the standard image.

[0094] In some embodiments, the method further comprises: acquiring a matching degree between the measured image and the standard image; and controlling the mechanical arm to drive the ultrasound probe to move until the matching degree between the measured image and the standard image is higher than a preset value.

[0095] In some embodiments, the identification of the blood vessel to be punctured in the measured image further comprises: controlling the ultrasound probe to emit a Doppler ultrasound signal; and identifying the blood vessel to be punctured in the measured image based on the Doppler ultrasound signal received by the ultrasound probe.

[0096] In some embodiments, the method further comprises: after controlling the mechanical arm to move the ultrasound probe to the body surface landmark point corresponding to the blood vessel to be punctured, controlling the mechanical arm to adjust a posture of the ultrasound probe so that a length direction of the ultrasound probe is substantially perpendicular to the blood vessel to be punctured.

[0097] In some embodiments, the method further comprises: after determining the puncture point, controlling the mechanical arm to drive the ultrasound probe to move so that a detection center of the ultrasound probe is aligned with the puncture point; controlling the mechanical arm to drive the ultrasound probe to rotate on the body surface with the puncture point as the center; determining a length variation of the blood vessel to be punctured in the measured image during the rotation; and determining an orientation of the ultrasound probe when the length of the blood vessel to be punctured is the longest as a puncture orientation for controlling the mechanical arm to drive the puncture needle to puncture.

[0098] In some embodiments, the method further comprises, after controlling the robot arm to move the ultrasound probe to the body surface landmark corresponding to the blood vessel to be punctured, controlling the robot arm to adjust the posture of the ultrasound probe so that the ultrasound signal emission axis of the ultrasound probe is substantially perpendicular to the body surface.

[0099] In some embodiments, the method further comprises, after determining the puncture point, controlling the robot arm to move the ultrasound probe so that the detection center of the ultrasound probe is aligned with the puncture point, and determining an initial angle between the ultrasound signal emission axis of the ultrasound probe and the body surface; controlling the robot arm to rotate the ultrasound probe so that the angle between the ultrasound signal emission axis of the ultrasound probe and the body surface changes; tracking the blood vessel to be punctured in the live image during the rotation to determine a terminal angle, the terminal angle being the angle between the ultrasound signal emission axis of the ultrasound probe and the body surface when the blood vessel to be punctured disappears in the live image; and determining a puncture angle for controlling the robot arm to drive the puncture needle to puncture based on the initial angle and the terminal angle.

[0100] In some embodiments, an intermediate angle between the initial angle and the terminal angle is determined as the puncture angle.

[0101] In some embodiments, the ultrasound-guided blood vessel puncture device further comprises a force feedback element connected to the puncture needle, and the method further comprises, when controlling the robot arm to drive the puncture needle, controlling the puncture stroke based on the force on the needle tip measured by the force feedback element.

[0102] In some embodiments, the ultrasound-guided blood vessel puncture device further comprises a pressure measuring element connected to the needle cavity of the puncture needle, and the method further comprises, when controlling the robot arm to drive the puncture needle to puncture, determining the puncture end point based on the pressure in the needle cavity measured by the pressure measuring element.

[0103] In some embodiments, controlling the puncture stroke of the puncture needle and determining the puncture end point of the puncture needle comprise, when controlling the robot arm to drive the puncture needle to puncture, monitoring the change in the force on the needle tip measured by the force feedback element; when a sudden change in the force on the needle tip is determined, recording a first position of the puncture needle at the moment; controlling the robot arm to drive the puncture needle to continue to travel a predetermined distance from the first position to a second position; controlling the robot arm to drive the puncture needle to move back and forth between the first position and the second position, and monitoring the pressure in the needle cavity measured by the pressure measuring element during the movement; and determining the position with the highest pressure in the needle cavity as the puncture end point.

[0104] The above describes a control method of an ultrasound-guided blood vessel puncture device provided by an embodiment of the present application, and some specific technical details can be referred to the description of the related part of the ultrasound probe in the foregoing, which will not be described here again.

[0105] The embodiments of the present application further provide a computer readable storage medium, which stores a computer program. The computer program is run by a computer to implement the method described in any of the above embodiments. The specific implementation of the computer readable storage medium can refer to the foregoing description, which will not be repeated here.

[0106] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, the processes of the above-mentioned embodiments can be included.

[0107] In the embodiments of the present application, any reference to memory, storage, database or other medium can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0108] Any combination of the technical features of the above embodiments can be combined. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application. The above embodiments only express several embodiments of the present application, which are described in detail and specifically, but should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of the patent of the present application should be subject to the appended claims.

Claims

1. An ultrasound-guided blood vessel puncture device, comprising: a mechanical arm; an ultrasound probe configured to transmit and receive ultrasound signals, the ultrasound probe being connected to the mechanical arm; a puncture needle connected to the mechanical arm; and one or more processors configured to: obtain a user input of a blood vessel to be punctured; control the mechanical arm to move the ultrasound probe to a body surface landmark corresponding to the blood vessel to be punctured, and control the ultrasound probe to transmit ultrasound signals; generate a measured image based on the ultrasound signals received by the ultrasound probe; identify the blood vessel to be punctured in the measured image to a puncture point; and control the mechanical arm to complete puncture from the puncture point by the puncture needle. In identifying the blood vessel to be punctured in the measured image, the one or more processors are specifically configured to:

2. The apparatus of claim 1, wherein, obtain a standard image including the blood vessel to be punctured and surrounding tissue of the blood vessel to be punctured; and identify the blood vessel to be punctured in the measured image based on the standard image. The one or more processors are further configured to:

3. The apparatus of claim 2, wherein, obtain a matching degree between the measured image and the standard image; and control the mechanical arm to move the ultrasound probe based on the matching degree until the matching degree between the measured image and the standard image is higher than a preset value. In identifying the blood vessel to be punctured in the measured image, the one or more processors are further configured to:

4. The apparatus of any one of claims 1-3, wherein, control the ultrasound probe to transmit Doppler ultrasound signals; and identify the blood vessel to be punctured in the measured image based on the Doppler ultrasound signals received by the ultrasound probe. The one or more processors are further configured to:

5. The apparatus of claim 1, wherein, after controlling the mechanical arm to move the ultrasound probe to the body surface landmark corresponding to the blood vessel to be punctured, control the mechanical arm to adjust a posture of the ultrasound probe so that a length direction of the ultrasound probe is substantially perpendicular to the blood vessel to be punctured. The one or more processors are further configured to:

6. The apparatus of claim 5, wherein, after determining the puncture point, control the mechanical arm to move the ultrasound probe so that a detection center of the ultrasound probe is aligned with the puncture point; control the mechanical arm to rotate the ultrasound probe around the puncture point; determine a length variation of the blood vessel to be punctured in the measured image during the rotation; and determine an orientation of the ultrasound probe when the length of the blood vessel to be punctured is the longest as a puncture orientation for controlling the mechanical arm to puncture by the puncture needle. The one or more processors are further configured to: after controlling the mechanical arm to move the ultrasound probe to the body surface landmark corresponding to the blood vessel to be punctured, control the mechanical arm to adjust a posture of the ultrasound probe so that an ultrasound signal transmission axis of the ultrasound probe is substantially perpendicular to the body surface. The one or more processors are further configured to: after determining the puncture point, control the mechanical arm to move the ultrasound probe so that a detection center of the ultrasound probe is aligned with the puncture point, and determine an initial angle between an ultrasound signal transmission axis of the ultrasound probe and the body surface; control the mechanical arm to rotate the ultrasound probe so that the angle between the ultrasound signal transmission axis of the ultrasound probe and the body surface is changed; and 7. The apparatus of claim 1, wherein, ​ ​ 8. The apparatus of claim 7, wherein, ​ ​ ​ tracking the to-be-punctured blood vessel in the real-time image during rotation to determine a termination angle, the termination angle being an angle between an ultrasonic signal emission axis of the ultrasonic probe and a body surface when the to-be-punctured blood vessel disappears in the real-time image; determining a puncture angle based on the initial angle and the termination angle.

9. The apparatus of claim 8, wherein, The one or more processors are specifically configured to: determine an intermediate angle between the initial angle and the termination angle as the puncture angle.

10. The apparatus of claim 1, further comprising: a force feedback component connected to the puncture needle to measure a force on a needle tip of the puncture needle; The one or more processors are further configured to: control a puncture stroke based on the force on the needle tip measured by the force feedback component when controlling the mechanical arm to drive the puncture needle to puncture.

11. The apparatus of claim 10, further comprising: a pressure measuring component connected to a needle cavity of the puncture needle to measure a pressure in the needle cavity of the puncture needle; The one or more processors are further configured to: determine a puncture end point based on the pressure in the needle cavity measured by the pressure measuring component when controlling the mechanical arm to drive the puncture needle to puncture.

12. The apparatus of claim 11, wherein, The one or more processors are specifically configured to: monitor a change in the force on the needle tip measured by the force feedback component when controlling the mechanical arm to drive the puncture needle to puncture; record a first position of the puncture needle when a mutation in the force on the needle tip is determined; control the mechanical arm to drive the puncture needle to continue to travel a predetermined distance from the first position to a second position; control the mechanical arm to drive the puncture needle to reciprocate between the first position and the second position and monitor the pressure in the needle cavity measured by the pressure measuring component during the reciprocation; determine a position with the highest pressure in the needle cavity as the puncture end point of the puncture needle.

13. The apparatus of claim 1, wherein, The ultrasonic probe is provided with a needle slot, an ultrasonic signal emission surface of the ultrasonic probe is provided with a needle hole, the needle hole is in communication with the needle slot, an included angle between the needle slot and the ultrasonic signal emission surface of the ultrasonic probe is 45 degrees, and the one or more processors are specifically configured to: control the mechanical arm to drive the ultrasonic probe to move so that the needle hole is aligned with the puncture point; and control the mechanical arm to drive the puncture needle to complete puncture along the needle slot.

14. A control method of an ultrasonic-guided blood vessel puncture device, the ultrasonic-guided blood vessel puncture device comprising a mechanical arm, and an ultrasonic probe and a puncture needle connected to the mechanical arm, the method comprising: obtaining a to-be-punctured blood vessel input by a user; controlling the mechanical arm to drive the ultrasonic probe to move to a body surface landmark point corresponding to the to-be-punctured blood vessel and controlling the ultrasonic probe to emit ultrasonic signals; generating a real-time image based on the ultrasonic signals received by the ultrasonic probe; identifying the to-be-punctured blood vessel in the real-time image to determine a puncture point; controlling the mechanical arm to drive the puncture needle to complete puncture at the puncture point.

15. The method of claim 14, wherein, The identification of the to-be-punctured blood vessel in the real-time image comprises: acquire a standard image, the standard image comprising the blood vessel to be punctured and surrounding tissue of the blood vessel to be punctured; identify the blood vessel to be punctured in the real-time image based on the standard image.

16. The method of claim 15, further comprising: acquiring a matching degree between the real-time image and the standard image; controlling the mechanical arm to move the ultrasound probe based on the matching degree until the matching degree between the real-time image and the standard image is higher than a preset value.

17. The method of any one of claims 14-16, wherein, identifying the blood vessel to be punctured in the real-time image further comprises: controlling the ultrasound probe to emit a Doppler ultrasound signal; identifying the blood vessel to be punctured in the real-time image based on the Doppler ultrasound signal received by the ultrasound probe.

18. The method of claim 14, further comprising: after controlling the mechanical arm to move the ultrasound probe to the body surface landmark point corresponding to the blood vessel to be punctured, controlling the mechanical arm to adjust a posture of the ultrasound probe so that a length direction of the ultrasound probe is substantially perpendicular to the blood vessel to be punctured.

19. The method of claim 18, further comprising: after determining the puncture point, controlling the mechanical arm to move the ultrasound probe so that a detection center of the ultrasound probe is aligned with the puncture point; controlling the mechanical arm to rotate the ultrasound probe around the puncture point on the body surface; determining a length variation of the blood vessel to be punctured in the real-time image during the rotation; determining a direction of the ultrasound probe when the length of the blood vessel to be punctured is the longest as a puncture direction for controlling the mechanical arm to move the puncture needle.

20. The method of claim 14, further comprising: after controlling the mechanical arm to move the ultrasound probe to the body surface landmark point corresponding to the blood vessel to be punctured, controlling the mechanical arm to adjust a posture of the ultrasound probe so that an ultrasound signal emission axis of the ultrasound probe is substantially perpendicular to the body surface.

21. The method of claim 20, further comprising: after determining the puncture point, controlling the mechanical arm to move the ultrasound probe so that a detection center of the ultrasound probe is aligned with the puncture point, and determining an initial angle between the ultrasound signal emission axis of the ultrasound probe and the body surface; controlling the mechanical arm to rotate the ultrasound probe so that the angle between the ultrasound signal emission axis of the ultrasound probe and the body surface changes; tracking the blood vessel to be punctured in the real-time image during the rotation to determine a terminal angle, the terminal angle being an angle between the ultrasound signal emission axis of the ultrasound probe and the body surface when the blood vessel to be punctured disappears in the real-time image; determining a puncture angle for controlling the mechanical arm to move the puncture needle based on the initial angle and the terminal angle. determining a middle angle between the initial angle and the terminal angle as the puncture angle.

22. The method of claim 21, wherein, The ultrasound-guided blood vessel puncture device further comprises a force feedback element connected with the puncture needle, and the method further comprises:

23. The method of claim 14, wherein, controlling a puncture stroke based on a force measured by the force feedback element when controlling the mechanical arm to move the puncture needle. ​ 24. The method of claim 23, wherein, The ultrasound-guided blood vessel puncture device further comprises a pressure measuring element connected to the needle cavity of the puncture needle, and the method further comprises: controlling the mechanical arm to drive the puncture needle to puncture, and determining a puncture end point based on the needle cavity pressure measured by the pressure measuring element.

25. The method of claim 24, wherein, controlling the puncture stroke of the puncture needle and determining the puncture end point of the puncture needle comprise: monitoring the change of the force on the needle tip measured by the force feedback element when controlling the mechanical arm to drive the puncture needle to puncture; recording a first position where the puncture needle is currently located when the force on the needle tip is determined to have a mutation; controlling the mechanical arm to drive the puncture needle to continue to travel a predetermined distance from the first position as a starting point to reach a second position; controlling the mechanical arm to drive the puncture needle to reciprocate between the first position and the second position, and monitoring the needle cavity pressure measured by the pressure measuring element during the reciprocation; determining the position with the highest needle cavity pressure as the puncture end point.

26. A computer readable storage medium having stored thereon a computer program, the computer program being executed by a computer to implement the method of any one of claims 13-25.

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