117 results about "Respiratory phase" patented technology

The invention relates to the technical field of bio-electricity signal acquisition, and particularly discloses a multi-channel bio-electricity signal acquisition system and a multi-channel bio-electricity signal acquisition method.The multi-channel bio-electricity signal acquisition system comprises a bio-electricity signal acquisition unit and a data processing unit; the data processing unit is used for compensating the original electrophysiological signals according to the real-time impedance value transmitted by the analog-to-digital conversion unit, performing primary screening on the original bio-electricity signals through the lowest quality threshold value, and performing primary compensation on the original bio-electricity signals according to the real-time impedance value, the standard impedance value and the breathing phase; according to the method, more flexible quality requirement setting is realized, the quality threshold setting difficulty is reduced, secondary screening is performed on the corrected bio-electricity signals through the highest quality threshold, and secondary compensation is performed on the corrected bio-electricity signals by adopting the LSTM network, so that the influence of bio-impedance fluctuation on the bio-electricity signals is reduced, and the quality of the bio-electricity signals is improved. And the acquisition quality and stability of the bio-electricity signals are improved.

The invention provides a dynamic lung compliance monitoring method based on electrical impedance tomography, and the method comprises the steps: obtaining an electrical impedance signal and pressure-volume curve data, recording a time sequence signal of lung tissue in a dynamic ventilation process through a synchronous collection device, and obtaining an original multi-dimensional data set; aiming at the second feature set, eliminating redundant parameters by applying a feature screening mechanism, and evaluating the importance of each feature in different breathing stages through an information gain algorithm to obtain a third feature set; constructing a dynamic compliance monitoring model through the weighted feature set, and fitting a lung compliance change trend by using a support vector regression algorithm to obtain a real-time prediction result; and according to the updated prediction result, evaluating the improvement degree of the calculation efficiency, and judging whether the real-time performance meets clinical requirements or not by recording the model operation time and the resource occupancy rate so as to obtain final monitoring output.

The invention discloses a tumor respiratory movement trajectory prediction method and system based on spatio-temporal feature separation LSTM, and the method comprises the following steps: collecting a four-dimensional CT respiratory cycle image, extracting a tumor centroid coordinate, and generating a standardized tumor centroid coordinate sequence through sliding window standardization; the method comprises the following steps: inputting bidirectional LSTM to calculate Euclidean distance screening features and weighting to generate a weighted spatial feature vector sequence, extracting time recursion feature weighted fusion through one-dimensional convolution and unidirectional LSTM, predicting a tumor motion trajectory through autoregression, and comparing real-time coordinate correction to generate an adaptive correction trajectory prediction result. A four-dimensional image sequence is extracted and standardized through registration, a two-way network is combined to calculate two-way distance features to recognize breathing phase changes, spatial-temporal features are fused to establish a nonlinear recursive relation to capture tumor motion differences, real-time correction optimization is achieved through deviation statistics and weight self-adjustment, and prediction stability and trajectory fitting precision are improved.

The invention discloses a point cloud-driven thoracic cavity whole organ dynamic reconstruction and respiration monitoring method and system, and the method comprises the steps: constructing a three-dimensional geometric model corresponding to each target structure in a thoracic cavity based on the thoracic medical image data of a target object, and converting the three-dimensional geometric model into static point cloud data; driving the static point cloud data to perform dynamic deformation simulation in a respiratory cycle based on a respiratory movement rule of the target object to obtain dynamic point cloud data synchronized with a respiratory time phase; performing time-space synchronization association on the dynamic point cloud data and the electrical characteristic parameters, and constructing a digital twin thoracic cavity model; deploying a virtual sensing assembly which dynamically deforms along with the thoracic cavity in the digital twin thoracic cavity model, simulating and monitoring the dynamic breathing process of the target object, and generating a virtual physiological signal; and performing signal processing on the virtual physiological signal to obtain a dynamic reconstruction image reflecting respiratory movement. Continuous simulation of the full-breathing movement process is achieved, and the temporal-spatial resolution and diversity of a virtual database are improved.

The embodiment of the invention relates to the field of radiotherapy equipment, and discloses a target region real-time tracking method, electronic equipment, a system and a storage medium, and the method comprises the steps: tracking a target region in real time through controlling a main mechanical arm and an auxiliary mechanical arm to move synchronously by using a current prediction model and breathing phase change, the prediction model is used for representing a corresponding relation between the breathing phase and target region motion information, and the target region motion information comprises six-degree-of-freedom information; obtaining a single projection image according to a preset frequency; obtaining a monitoring value of the motion information of the target area by using a single projection image; matching the monitoring value with a predicted value of the same breathing time phase target region motion information in the prediction model; and under the condition of inconsistent matching, the prediction model is re-established. According to the method, the problem of improving the accuracy of real-time target region tracking is solved, and the prediction model is dynamically corrected according to the monitoring information in the treatment stage of real-time target region tracking, so that the target region tracking accuracy is improved.

The invention relates to the technical field of medical data processing, and discloses a puncture navigation auxiliary system for tumor intervention, which is characterized in that a three-dimensional navigation puncture path is generated based on preoperative multi-modal medical image data, and dynamic compensation is carried out on organ elastic deformation in an operation; a puncture time window is predicted through the breathing phase monitoring module, and a control signal is sent to an external puncture operation device through the external execution equipment interface; displaying a navigation puncture path and a risk area in combination with an intraoperative real-time image and a holographic projection interface, and adjusting puncture parameters through gesture interaction; the puncture path, resistance and impedance data in the puncture process are recorded, and a postoperative curative effect scheme is generated. According to the method, the accuracy of puncture is improved, the risk of injury to surrounding tissues is reduced, and meanwhile, the real-time feedback capability of an operation is also enhanced.

The invention provides a radioactive source personal dose real-time monitoring device and a radioactive source personal dose real-time monitoring method based on a double-range self-adaptive mechanism. The radioactive source personal dose real-time monitoring device and method are suitable for intraoperative individual dose collection and dynamic evaluation in the tumor radiotherapy process. The device comprises a flexible attaching substrate, a first measuring range detection sub-module, a second measuring range detection sub-module, a self-adaptive scheduling unit, a temperature compensation module, a breathing synchronous correction module and a wireless communication module. The device can respond to different dose intensities in real time and adaptively switch or fuse channels; the collected dose projection is restored to a planned coordinate system through a breathing phase recognition and target region drift model, and dynamic target region dose tracking is achieved; temperature correction and wireless transmission functions are combined, and intraoperative data visualization and postoperative evaluation are supported. According to the invention, the precision and safety of radiotherapy dose monitoring are improved, and the method is especially suitable for radiotherapy management of areas with significant respiration-induced drift or adjacent key organs.

A respiratory motion plane alignment system and method based on ultrasound images is disclosed. The system acquires three-dimensional ultrasound images of respiratory organs at at least two different respiratory phases, calculates the motion direction of the respiratory organs based on the three-dimensional ultrasound images, controls and adjusts an ultrasound direction adjustment mechanism to align the scanning plane of the ultrasound probe with the motion direction of the respiratory organs, acquires a three-dimensional model image of the respiratory organs and multiple frames of real-time two-dimensional ultrasound images, performs registration between the multiple frames of real-time two-dimensional ultrasound images of the respiratory organs, and / or registers the three-dimensional model image and the multiple frames of real-time two-dimensional ultrasound images, acquires three-dimensional position data of a target point during respiratory motion, determines the tracking path of the ultrasound probe based on the three-dimensional position data of the target point during respiratory motion, and controls the ultrasound probe to move along the tracking path, thereby achieving long-term stable observation or tracking of target points in the respiratory organs.

The invention discloses a high-frequency full-chest oscillation sputum excretion method and system based on clinical data self-adaptive regulation and control, and the method comprises the steps: building an individualized propagation model of thorax and lung tissues through collecting individualized clinical data of a patient and chest multipoint acoustic and mechanical short-range response; the current body position of a patient is input into the model, a chest drainage path is obtained, oscillation control parameters are generated under the constraint of the path, and the oscillation control parameters are used for driving equipment to synthesize pressure traveling waves which are directionally propagated in multiple areas of the chest wall. In the execution process, safety gating control is conducted in combination with electrocardio and breathing phases, meanwhile, aerosol echoes and high-frequency impedance disturbance are collected to serve as feedback signals, and feedback data are formed after the feedback signals are aligned with an execution time sequence and used for dynamically updating the individualized propagation model and oscillation control parameters. According to the invention, accurate regulation and control can be carried out according to individual differences and real-time physiological statuses of different patients, the sputum drainage effect is effectively enhanced, the safety and comfort of treatment are improved, and the clinical application value is high.

The invention discloses a method for identifying and processing an artifact region in a nuclear medicine imaging image, and relates to the technical field of medical image registration. Comprising the following steps: S1, acquiring a PET dynamic image sequence, a CT dual-energy spectrum image and a respiratory movement monitoring signal, and generating a registration quality map; s2, the PET dynamic image sequence and the CT image are combined, statistical dependence between the PET dynamic image sequence and the CT image is obtained, and a focus of an artifact area in the CT image is positioned or reconstructed and compensated; and S3, carrying out artifact reconstruction on the optimized CT image, and processing a reconstructed artifact region through a double-branch network model. According to the method, the instantaneous phase of the respiratory signal is extracted through Hilbert transform, the PET dynamic image sequence is grouped according to the respiratory phase, accurate matching of same-phase frames can be achieved, meanwhile, the registration quality map is generated through the B-spline Demons algorithm, and organ deformation artifacts caused by respiratory movement can be remarkably reduced.

The invention belongs to the technical field of medical equipment, and provides a tumor radiotherapy system based on multi-modal image and breathing waveform fusion, which comprises a data acquisition and processing module, a tumor position prediction module and a radiotherapy determination module, based on an elastic registration method, through feature space alignment, the space-time registration problem of a multi-source image is effectively solved, particularly artifact suppression and small tumor recognition of a rib overlapping region are innovatively optimized, and the target region sketching precision in a complex anatomical environment is remarkably improved; by means of a two-way convolution module, a prediction model with respiratory phase sensing capacity is constructed by analyzing space-time correlation between respiratory signals and image features, tumor motion trail tracking is achieved, tumor centroid coordinates are predicted, and the technical limitation of traditional single-mode tracking is broken through.

The invention relates to the technical field of respiratory function monitoring, and discloses a pulmonary ventilation blood flow distribution real-time monitoring method and evaluation system based on a sensor. The method comprises the following steps: acquiring multi-modal data such as a blood oxygen saturation waveform, an airflow rate waveform and a thoracic pressure waveform of a lung area; performing time synchronization processing on the data to generate a time alignment sequence; dividing the data into an inspiration phase, an expiration phase and a transition phase according to a preset rule; extracting time-frequency domain features from each phase segment, and constructing a multi-dimensional respiration feature matrix; identifying an abnormal breathing mode and marking an abnormal section through breathing phase switching frequency analysis; decomposing the normal segment feature matrix by using a lung pathological feature library to generate a pathological feature vector; a pathological feature vector is optimized through a ventilation and blood flow coupling model; and carrying out abnormal region positioning based on the lung pathology propagation network, and generating a lung partition function evaluation result. The method realizes non-invasive and real-time monitoring, and is suitable for scenes such as clinical monitoring and rehabilitation evaluation.

The invention relates to the technical field of hydrops quantitative evaluation, and discloses an ultrasound-based pleural hydrops quantitative evaluation system, which comprises an image acquisition module, a boundary division module, a trajectory analysis module, a feature judgment module, a mode classification module and a quantitative evaluation determination module, the positioning module is used for positioning an area which deforms along with breathing movement in the ultrasonic image sequence, and dividing a suspected effusion cavity boundary based on the consistency of a deformation mode; the trajectory analysis module is used for analyzing moving trajectories of the suspected effusion cavity boundary at different breathing phases and extracting regularity features and amplitude change features of the moving trajectories; the feature judgment module is used for judging the mechanical coupling state of the suspected effusion cavity and the surrounding lung tissue according to the combination of the regularity feature and the amplitude change feature; according to the method, the comprehensiveness and accuracy of quantitative evaluation of the pleural effusion are remarkably improved, and a more valuable decision basis is provided for clinical diagnosis and treatment.

The invention discloses special anesthesia and proton treatment integrated equipment for children and a control method, relates to the field of intelligent medical treatment, and integrates five functional modules, namely anesthesia depth monitoring, respiratory gating synchronization, proton treatment positioning, intelligent feedback control and central control. The system collects multi-mode physiological signals such as electroencephalogram and myoelectricity in real time, and anesthesia state indexes and body movement early warning information are generated; a future displacement track is predicted in combination with the breathing phase, and accurate synchronization is achieved; a beam releasing and interrupting mechanism is linked through the feedback control module; the proton positioning module dynamically adjusts an irradiation path; the central module is scheduled in a unified mode, closed-loop control and safety protection are achieved, and the precision and safety of child proton treatment are remarkably improved.

To perform synchronous reconfiguration to the periodic movement of a subject without using an external device.SOLUTION: A nuclear medicine diagnosis device analyzes a respiratory movement from list mode data of scanning in which the respiratory movement and heart beats occur, divides the list mode data for every respiratory phase to create first images, analyzes the heart beats for every respiratory phase, creates second images from data obtained by dividing the list mode data for every respiratory phase and data obtained by the division for every heart beat phase, acquires at least one of a first motion vector between the respiratory phases and a second motion vector between the heart beat phases, and applies the first motion vector to the second images and adds up the images, for every group of the second images different in the respiratory phase from each other and common in the heart beat phase, to create a first single phase image corresponding to a specific phase, or applies the motion vector to the second images and adds up the images, for every group of the second images different in the heart beat phase from each other and common in the respiratory phase, to create a second single phase image corresponding to the specific phase.SELECTED DRAWING: Figure 9

This invention provides a four-dimensional CT reconstruction method based on real-time kV image-driven reconstruction, including data preprocessing and four-dimensional CT reconstruction. Data preprocessing includes respiratory phase synchronization, spatial resampling, and geometric consistency registration and clipping. Four-dimensional CT reconstruction is implemented using a deep learning model based on a three-dimensional U-Net architecture. The model training adopts a supervised learning paradigm, using normalized prior three-dimensional CT volume data and corresponding two-dimensional kV projection images as joint inputs. Through multi-scale feature encoding and decoding structures, the model learns the mapping relationship between the two-dimensional projection images and the three-dimensional volume data, thereby predicting and outputting the three-dimensional CT volume data under the current respiratory phase. This application achieves an end-to-end closed loop from two-dimensional projection to four-dimensional CT to dose assessment, reducing the radiation dose required for image reconstruction, improving reconstruction speed, and ensuring spatial accuracy and temporal continuity, possessing feasibility and practical value for clinical application.

This application relates to a continuous positive airway pressure (CPAP) device and a method for controlling ventilation pressure. The minimum operating pressure is determined by acquiring a preset treatment pressure and a target pressure drop. The device monitors the patient's respiratory phase transitions in real time and employs different pressure regulation strategies for the inspiratory and expiratory phases. During the inspiratory phase, the ventilation pressure is smoothly adjusted from the preset treatment pressure to the minimum operating pressure and maintained to reduce inspiratory effort. During the expiratory phase, the ventilation pressure is gradually increased from the minimum operating pressure to ensure that the ventilation pressure returns to the preset treatment pressure at the end of the expiratory phase, maintaining airway support and avoiding the risks of airway closure and central apnea. This application improves patient comfort during CPAP therapy, enhances treatment compliance, and simultaneously ensures airway support while reducing the risks of airway closure and central apnea.

Systems, methods, and media are provided for image correction of magnetic resonance images (MRIs). Operations include capturing image data using a medical imaging system, and identifying respiratory principal components and cardiac principal components from the image data. The operations also include classifying the cardiac principal components based on whether the cardiac principal components are associated with expiration events or inspiration events of the respiratory principal components, and generating corrected cardiac images using the classified cardiac principal components.

The application discloses an old person free breathing coronary artery scanning image lesion analysis system and relates to the technical field of scanning image lesion analysis. In order to solve the problem that the accurate condition of a patient cannot be obtained according to a scanning image. The application adopts a diameter method, an area method and a contrast agent filling condition to judge the stenosis degree and the hemodynamic change, analyzes the lesion from the morphological and functional double angles, provides comprehensive information for clinical decision-making, identifies the R wave peak value and divides the cardiac phase, matches the respiratory signal and the projection data in time, can accurately capture the characteristics of the heart in different motion states and the respiratory stage, effectively avoids the interference of the artifacts caused by the heart beat and the respiratory motion, makes the reconstructed image clearer and more accurate, sets the CT and the injector parameters in sequence from the scanning type confirmation, each link is closely related and the target is clear, improves the work efficiency, and is convenient for quality control and process management.

Disclosed in the present invention are a motion management method and system, and a related device, which relate to the technical field of radiotherapy. The system comprises: a real-time imaging module used for acquiring a body surface contour of a patient in real time and acquiring a respiratory curve of the patient according to the body surface contour, the body surface contour being used for auxiliary positioning of the patient; and a 4D acquisition module used for sending a time signal to a sliding gantry CT according to the respiratory curve of the patient to establish a respiratory phase synchronization timing sequence, wherein when a treatment couch is at a scanning position of the sliding gantry CT, according to a real-time respiratory signal of the patient, 4DCT images or breath-hold images of the patient in different respiratory phases are acquired using the sliding gantry CT. The 4DCT images or the breath-hold images are used for registration with a positioned 4DCT image, thereby overcoming the drawbacks that previously only tumor images at a certain respiratory phase are obtainable and the images are prone to motion artifacts, resulting in errors in registration. As a result, the registration accuracy of a tumor that is greatly affected by respiratory motion is improved, and the clinical efficiency is enhanced.

The application discloses an X-ray scanning imaging method based on an X-ray flat panel array, relates to the technical field of scanning imaging, and breaks through the traditional dose constraint by simulating high dose noise characteristics in a projection domain based on virtual dose enhancement; based on dynamic registration of bone probability weighting, the method eliminates the blurred edge of a vertebral body caused by respiratory displacement without the need of external sensors or patient cooperation; by means of an iterative weight shrinkage mechanism, a weighted total variation model can inhibit soft tissue noise while preserving micron-level features such as bone trabeculae, and over-smoothing distortion is avoided; frame frequency control in a respiratory phase is self-adaptive, compatible with existing flat hardware, and can directly upgrade existing equipment, thereby reducing hospital procurement costs.

The invention discloses an X-ray scanning imaging method based on an X-ray flat plate array, relates to the technical field of scanning imaging, and aims to simulate high-dose noise characteristics in a projection domain by virtual dose enhancement and break through traditional dose constraints; based on dynamic registration of bone probability weighting, ambiguity of the vertebral body edge caused by respiratory displacement is eliminated, and cooperation of an external sensor or a patient is not needed; the weighted total variation model retains micron-sized features such as bone trabecula and the like while inhibiting soft tissue noise through an iterative weight contraction mechanism, and excessive smooth distortion is avoided; respiratory phase self-adaptive frame frequency control is compatible with existing panel hardware, existing equipment can be directly upgraded, and the purchase cost of hospitals is reduced.

The invention discloses a gynaecology and obstetrics intelligent visual midwifery system based on an ultrasonic technology, and relates to the technical field of ultrasonic midwifery, the system constructs a two-dimensional coordinate system and extracts ultrasonic echo total time and respiratory phase data, and fetal membrane structure data and fetal physiological data are generated through dimensionless processing and data analysis. And constructing an amniotic sac thickness gradient index dyn according to the thickness gradient change to evaluate the structural stability of the amniotic sac. And if the fetal respiratory phase drift index psh is evaluated to be unstable, calculating the fetal respiratory phase drift index psh, and jointly constructing a comprehensive parturition risk index Rco with the amniotic sac thickness gradient index dyn to reflect the potential parturition risk of coupling of the fetal stress level and the membrane structure variation. And the system generates different types of intervention instructions according to the evaluation result of the comprehensive parturition risk index Rco. Multi-dimensional data mapping and layer display are achieved, linkage display of a risk thermodynamic diagram and a breathing phase curve is supported, and a visual and traceable dynamic midwifery decision basis is provided for medical staff.

Described herein are a system and a method for automatically guiding and evaluating a user's performance during structured breathing exercise sessions. The system retrieves predetermined breathing patterns, including sequences of inhales, exhales, and breath-holds across one or more rounds. Each round includes at least two stages: a breath-hold stage and a first full breath stage immediately following the breath-hold. The system provides real-time guidance through sensory cues, receives user-initiated or automatic signals marking stage transitions, records the duration of each stage, and determines ideal or target durations. A longer first full breath duration indicates improved breath-hold performance and reduced stress. The system generates a final score for each round by combining breath-hold and first full breath durations, reflecting performance, relaxation, lung function, tolerance metrics, and the like. Aggregate session scores are computed across rounds, offering insights into exercise suitability, session effectiveness, and physiological adaptation over time.

The invention relates to an adaptive breathing phase estimation method, which comprises the following steps of: firstly, acquiring data through a breathing flow sensor, preprocessing a breathing signal by adopting a Kalman filter, removing noise interference in the breathing signal, and ensuring that the acquired breathing data is accurate and reliable; further, the extreme value of the lung volume curve is calculated, then potential phase conversion points are recognized, and division of breathing phases is achieved; then, through a real-time anomaly detection mechanism, non-rhythm respiration data is quickly rejected, and only rhythm respiration data is reserved for estimating a respiration phase. According to the algorithm, the safety of the breathing assisting system in the breathing training process can be ensured, and human body confrontation caused by control logic confusion is avoided; and finally, estimating the respiratory rhythm change of the human body based on a prediction algorithm of physiological features, and completing the accurate recognition of the respiratory phase. The method provided by the invention can effectively adapt to human respiratory rhythm changes, and can provide powerful support for real-time control and stable operation of a respiratory assist system.

The application discloses a point cloud driven thoracic cavity whole organ dynamic reconstruction and respiratory monitoring method and system, and the method implementation comprises the following steps: based on the thoracic medical image data of a target object, constructing three-dimensional geometric models corresponding to each target structure in the thoracic cavity, and converting the three-dimensional geometric models into static point cloud data; based on the respiratory motion law of the target object, driving the static point cloud data to perform dynamic deformation simulation in a respiratory cycle, and obtaining dynamic point cloud data synchronized with the respiratory phase; synchronously associating the dynamic point cloud data with electrical characteristic parameters in time and space, and constructing a digital twin thoracic cavity model; deploying a virtual sensor assembly that dynamically deforms with the thoracic cavity in the digital twin thoracic cavity model, and simulating and monitoring the dynamic respiratory process of the target object, and generating a virtual physiological signal; and through signal processing on the virtual physiological signal, a dynamic reconstruction image reflecting the respiratory motion is obtained. The continuous simulation of the whole respiratory motion process is realized, and the time and space resolution and diversity of the virtual database are improved.

The invention relates to the field of intelligent physical training and man-machine interaction, and discloses an interactive martial art immersive teaching system, which obtains macroscopic body movement and microscopic skin vibration signals of a user through a multi-mode acquisition module, and extracts real-time breathing phases in a non-contact manner by using an Euler video enhancement technology and Hilbert transform. On the basis, the system establishes a dynamic coupling mechanism of the breathing phase and the impedance characteristic of the virtual rigid body model, and the dynamic physiological stiffness is used as a physical constraint condition to execute inverse dynamic solution, so that the effective internal stiffness modulated by breathing is quantified. And finally, the immersive feedback module generates a dynamic fluid special effect and tactile feedback according to the gas-force coherence index, and adaptively controls teaching stepping. The technical pain points that in traditional martial art teaching, 'internal strength 'cannot be quantified, and breathing and actions are difficult to cooperate are effectively solved, and digital immersive guiding with shape and gas integration is achieved.

The present invention relates to the field of artificial intelligence technology, and discloses an intelligent quantitative assessment system for adolescent scoliosis that integrates multimodal imaging. The system includes a multimodal data management module, a cross-modal registration fusion module, a dynamic quantitative analysis module, a risk prediction module, a three-dimensional reconstruction module, a report generation module, and a system management module. By setting a multimodal registration verification mechanism, the accurate matching of bony structure and soft tissue is ensured, and the calculation error of key parameters caused by registration failure is reduced, so that the three-dimensional reconstruction accuracy is greatly improved compared with traditional single-modal assessment. By introducing a dynamic breathing compensation module, the physiological changes of the spine in the respiratory movement cycle are automatically captured during the quantification stage of spinal deformation parameters, and the measurement values ​​are corrected based on an individualized dynamic model to distinguish between pathological progression and physiological fluctuations, thereby avoiding the risk of misjudgment caused by ignoring respiratory phase changes in traditional static measurements, and improving the reliability of scoliosis progression risk assessment.

The present invention relates to the field of puncture control technology, and provides an automatic puncture control method and system, including providing a first spatial positioning device for monitoring respiratory and cardiac phases; collecting image data of the object to be punctured, and formulating a puncture path to guide subsequent punctures based on the image data; after obtaining a puncture execution instruction, executing a puncture instruction cycle at a fixed time interval until a puncture cancellation instruction is obtained or the current puncture depth is greater than or equal to the planned puncture depth, at which time the execution of the puncture instruction cycle is stopped; wherein the puncture instruction cycle is to read the position information of the first spatial positioning device in real time within a fixed time interval, and compare it with the position information of the first spatial positioning device on the image data; if the respiratory phase and cardiac phase are consistent with the image data, the puncture operation is performed within the current fixed time interval; otherwise, the puncture operation is not allowed to be performed. This solves the problem of difficulty in controlling the puncture timing due to factors such as the patient's respiration and heartbeat.