CN116531093A

CN116531093A - Precision detection method of puncture navigation system and related products

Info

Publication number: CN116531093A
Application number: CN202310512077.6A
Authority: CN
Inventors: 谢卫国; 张冲; 高金兴; 张旭
Original assignee: Shenzhen Weide Precision Medical Technology Co ltd
Current assignee: Shenzhen Weide Precision Medical Technology Co ltd
Priority date: 2023-05-08
Filing date: 2023-05-08
Publication date: 2023-08-04

Abstract

The application discloses a precision detection method of a puncture navigation system and related products. The detection method is used for detecting the precision of a puncture navigation system, and the puncture navigation system controls a puncture guide to puncture based on a target puncture path under the condition of planning the target puncture path for a first needle inlet point and a first target point, and the method comprises the following steps: acquiring a puncture path to be detected, wherein the puncture path to be detected is a puncture path determined based on a puncture guide under the condition that the puncture guide path is controlled to puncture based on a target puncture path; acquiring a first coordinate of a first needle insertion point under a world coordinate system and a second coordinate of a first target point under the world coordinate system; determining an actual puncture path passing through the first needle insertion point and the first target point according to the first coordinate and the second coordinate; and determining the precision of the puncture navigation system according to the first difference between the puncture path to be detected and the actual puncture path.

Description

Precision detection method of puncture navigation system and related products

Technical Field

The application relates to the technical field of medical instruments, in particular to a precision detection method of a puncture navigation system and related products.

Background

The puncture navigation system can be used for planning a puncture path and controlling the puncture guide to puncture according to the planned puncture path, wherein the puncture guide can be used for fixing a needle for puncture. The accuracy of the puncture performed by the puncture navigation system will directly determine the effect of the puncture operation, and therefore, how to detect the accuracy of the puncture navigation system has very important meaning.

Disclosure of Invention

The application provides a precision detection method of a puncture navigation system and related products.

In a first aspect, a method for detecting accuracy of a puncture navigation system is provided. The detection method is used for detecting the precision of a puncture navigation system, and the puncture navigation system controls a puncture guide to puncture based on a target puncture path under the condition of planning the target puncture path for a first needle inlet point and a first target point, and the method comprises the following steps:

acquiring a puncture path to be detected, wherein the puncture path to be detected is a puncture path determined based on the puncture guide under the condition that the puncture guide diameter is controlled to puncture based on the target puncture path;

acquiring a first coordinate of the first needle insertion point under a world coordinate system and a second coordinate of the first target point under the world coordinate system;

Determining an actual puncture path passing through the first needle insertion point and the first target point according to the first coordinate and the second coordinate;

and determining the precision of the puncture navigation system according to the first difference between the puncture path to be detected and the actual puncture path, wherein the precision is in negative correlation with the first difference.

In combination with any one of the embodiments of the present application, before the determining the accuracy of the puncture navigation system according to the first difference between the puncture path to be detected and the actual puncture path, the method further includes:

and determining the first difference between the puncture path to be detected and the actual puncture path according to the second difference between the second coordinate and the third coordinate of the second target point of the puncture path to be detected, wherein the first difference and the second difference are positively correlated.

In combination with any one of the embodiments of the present application, the determining the accuracy of the puncture navigation system according to the first difference between the puncture path to be detected and the actual puncture path includes:

determining the second difference;

determining the length of the actual puncture path;

and determining the precision of the puncture navigation system according to the quotient of the second difference and the length, wherein the precision is inversely related to the quotient.

In combination with any one of the embodiments of the present application, before the obtaining the puncture path to be detected, the method further includes:

acquiring a first three-dimensional electronic computed tomography (computed tomography, CT) image and a first three-dimensional ultrasonic image, wherein the first three-dimensional CT image comprises a third target point, the first three-dimensional ultrasonic image comprises a second needle insertion point corresponding to the first needle insertion point, and the first three-dimensional CT image and the first three-dimensional ultrasonic image are obtained by scanning an object to be punctured;

registering the first three-dimensional CT image and the first three-dimensional ultrasonic image to obtain a second three-dimensional CT image;

determining a point corresponding to the third target point in the second three-dimensional CT image as a fourth target point;

and determining the target puncture path according to the second needle insertion point and the fourth target point.

In combination with any of the embodiments of the present application, the object to be punctured includes an organ model and a fixture, and the first needle insertion point and the first target point both belong to the fixture.

In combination with any of the embodiments of the present application, the puncture guide includes a fixing groove for fixing a needle, and the acquiring the puncture path to be detected includes:

According to the target puncture path, the mechanical arm is controlled to drive the puncture guide to move to a target position, wherein the target position is a starting position for puncturing according to the target puncture path;

and under the condition that the puncture guide is positioned at the target position, determining the puncture path to be detected according to the straight line passing through the fixing groove.

In combination with any one of the embodiments of the present application, the acquiring a first three-dimensional CT image includes:

acquiring a third three-dimensional CT image, wherein the third three-dimensional CT image is obtained by scanning the object to be punctured;

determining a target cross section from the third three-dimensional CT image according to a cross section viewing instruction when the cross section viewing instruction for the third three-dimensional CT image is detected;

displaying the target cross section;

and under the condition that the target point in the target cross section is detected to be used as a target point, the target point in the third three-dimensional CT image is used as the third target point, and the first three-dimensional CT image is obtained.

In a second aspect, there is provided a precision detection apparatus of a puncture navigation system for detecting precision of the puncture navigation system, the puncture navigation system controlling a puncture guide to puncture based on a target puncture path in a case of planning the target puncture path for a first needle insertion point and a first target point, the detection apparatus comprising:

An acquisition unit configured to acquire a puncture path to be detected, the puncture path to be detected being a puncture path determined based on the puncture guide in a case where the puncture guide diameter is controlled based on the target puncture path to perform puncture;

the acquisition unit is further used for acquiring a first coordinate of the first needle insertion point under a world coordinate system and a second coordinate of the first target point under the world coordinate system;

the determining unit is used for determining an actual puncture path passing through the first needle insertion point and the first target point according to the first coordinate and the second coordinate;

the determining unit is used for determining the precision of the puncture navigation system according to the first difference between the puncture path to be detected and the actual puncture path, and the precision is in negative correlation with the first difference.

In combination with any one of the embodiments of the present application, the determining unit is further configured to determine, according to a second difference between the second coordinate and a third coordinate of a second target point of the puncture path to be detected, the first difference between the puncture path to be detected and the actual puncture path, where the first difference and the second difference are positively correlated.

In combination with any one of the embodiments of the present application, the determining unit is configured to:

determining the second difference;

determining the length of the actual puncture path;

In combination with any one of the embodiments of the present application, the acquiring unit is further configured to acquire a first three-dimensional CT image and a first three-dimensional ultrasound image, where the first three-dimensional CT image includes a third target point, the first three-dimensional ultrasound image includes a second needle insertion point corresponding to the first needle insertion point, and the first three-dimensional CT image and the first three-dimensional ultrasound image are both obtained by scanning an object to be punctured;

the detection device further includes:

the registration unit is used for registering the first three-dimensional CT image and the first three-dimensional ultrasonic image to obtain a second three-dimensional CT image;

the determining unit is further configured to determine that a point corresponding to the third target point in the second three-dimensional CT image is a fourth target point;

the determining unit is further configured to determine the target puncture path according to the second needle insertion point and the fourth target point.

In combination with any of the embodiments of the present application, the puncture guide comprises a fixing groove for fixing the needle, and the acquisition unit is configured to:

In combination with any one of the embodiments of the present application, the obtaining unit is configured to:

displaying the target cross section;

In a third aspect, an electronic device is provided, including: a processor and a memory for storing computer program code comprising computer instructions which, when executed by the processor, cause the electronic device to perform a method as described in the first aspect and any one of its possible implementations.

In a fourth aspect, there is provided another electronic device comprising: a processor, transmission means, input means, output means and memory for storing computer program code comprising computer instructions which, when executed by the processor, cause the electronic device to carry out the method as described in the first aspect and any one of its possible implementations.

In a fifth aspect, there is provided a computer readable storage medium having stored therein a computer program comprising program instructions which, when executed by a processor, cause the processor to carry out a method as in the first aspect and any one of its possible implementations.

In a sixth aspect, a computer program product is provided, the computer program product comprising a computer program or instructions which, when run on a computer, cause the computer to perform the method of the first aspect and any one of the possible implementations thereof.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

In the application, after the detection device acquires the first coordinate of the first needle insertion point under the world coordinate system and the second coordinate of the first target point under the world coordinate system, the actual puncture path passing through the first needle insertion point and the first target point can be determined according to the first coordinate and the second coordinate. After acquiring the puncture path to be detected and determining the actual puncture path, the detection device can determine the precision according to the first difference under the condition that the first difference between the puncture path to be detected and the actual puncture path is inversely related to the precision of the puncture navigation system.

Because the puncture path to be detected can represent the effect of puncturing the first target point by taking the first needle inlet point as the needle inlet point through the puncture navigation system, the accuracy of the puncture navigation system is determined through the embodiment of the application, which is equivalent to considering all links in the puncture process of the puncture navigation system, so that the accuracy of the puncture navigation system can be improved.

Drawings

In order to more clearly describe the technical solutions in the embodiments or the background of the present application, the following description will describe the drawings that are required to be used in the embodiments or the background of the present application.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the technical aspects of the application.

Fig. 1 is a schematic flow chart of a method for detecting accuracy of a puncture navigation system according to an embodiment of the present application;

FIG. 2 is a schematic view of a puncture guide according to an embodiment of the present application;

fig. 3 is a schematic view of an object to be pierced according to an embodiment of the present application;

FIG. 4 is a schematic diagram showing a third three-dimensional CT image according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram showing a cross section of a target according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a relationship between a puncture guide and an object to be punctured in a case where the puncture guide is located at a target position according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a detection device according to an embodiment of the present application;

fig. 8 is a schematic hardware structure of a detection device according to an embodiment of the present application.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The terms first, second and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

It should be understood that, in the present application, "at least one (item)" means one or more, "a plurality" means two or more, "at least two (items)" means two or three and three or more, "and/or" for describing an association relationship of an association object, three kinds of relationships may exist, for example, "a and/or B" may mean: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" may indicate that the context-dependent object is an "or" relationship, meaning any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural. The character "/" may also represent divisors in mathematical operations, e.g., a/b=a divided by b; 6/3=2. "at least one of the following" or its similar expressions.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The specific process for realizing puncture by the puncture navigation system comprises the following steps: a first three-dimensional CT image of the organ to be punctured can be obtained by CT scanning the object to be punctured to obtain a plurality of two-dimensional CT images of the organ to be punctured. The doctor can determine the focus from the first three-dimensional CT image by observing the first three-dimensional CT image, and take the focus in the first three-dimensional CT image as a third target point. The first three-dimensional ultrasonic image of the organ to be punctured can be obtained by ultrasonic scanning of the object to be punctured, and the coordinate of the third target point under the world coordinate system can be determined by registering the first three-dimensional CT image and the first three-dimensional ultrasonic image because the pixel coordinate system of the three-dimensional ultrasonic image is the world coordinate system.

In the process of performing a puncture operation on an object to be punctured, after a needle insertion point of the puncture operation is determined, an ultrasonic probe is used for scanning the needle insertion point, so that a two-dimensional ultrasonic image comprising a first needle insertion point can be obtained. And converting the coordinates of the first needle inserting point in the two-dimensional ultrasonic image according to the first conversion relation, so as to obtain the coordinates of the first needle inserting point under the world coordinate system. The first conversion relation is a conversion relation between a pixel coordinate system of the two-dimensional ultrasonic image and a world coordinate system, namely, the coordinate of any pixel in the two-dimensional ultrasonic image under the world coordinate system can be determined according to the first conversion relation. For example, the two-dimensional ultrasound image includes a pixel a, and the object point corresponding to the pixel a in the real world is the object point b, and then, based on the first conversion relation and the position of the pixel a in the pixel coordinate system of the two-dimensional ultrasound image, the coordinates of the object point b in the world coordinate system may be determined. Optionally, the first transformation relationship is determined prior to performing a puncture procedure on the subject to be punctured.

After the coordinates of the target point and the coordinates of the needle insertion point in the world coordinate system are determined, the puncture navigation system can determine the target puncture path passing through the needle insertion point and the target point. After the target puncture path is obtained, the puncture navigation system can control the puncture guide to move to the target position so that a needle fixed in the puncture guide and the target puncture path are positioned on the same straight line, and further, the puncture can be completed by controlling the puncture guide to move along the target puncture path.

According to the foregoing implementation process of puncturing by the puncture navigation system, the accuracy of puncturing by the puncture navigation system is the accuracy of controlling the puncture guide to puncture, and the factors affecting the accuracy of puncturing by the puncture guide include all links in the implementation process of puncturing by the puncture navigation system, i.e. the accuracy of any one link affects the accuracy of the puncture navigation system. However, in the current technology, the accuracy of the puncture navigation system is usually determined only by detecting the accuracy of a part of links, which obviously tends to cause a large error in the detected accuracy. Based on the above, the embodiment of the application provides a precision detection method of a puncture navigation system, so as to improve the accuracy of the detected precision.

The execution main body of the embodiment of the application is a detection device, wherein the detection device can be any electronic equipment capable of executing the technical scheme disclosed by the embodiment of the method of the application. Alternatively, the detection means may be one of the following: computer, server.

It should be understood that the method embodiments of the present application may also be implemented by way of a processor executing computer program code. Embodiments of the present application are described below with reference to the accompanying drawings in the embodiments of the present application. Referring to fig. 1, fig. 1 is a flowchart of a method for detecting accuracy of a puncture navigation system according to an embodiment of the present application.

101. And acquiring a puncture path to be detected.

In the embodiment of the application, the puncture path to be detected is a puncture path determined based on the puncture guide under the condition that the puncture guide path is controlled to puncture based on the target puncture path. Specifically, after the target puncture path is determined by the puncture navigation system, the puncture guide is controlled to move, and the needle fixed on the puncture guide is controlled to move along the target puncture path, so that puncture is completed, wherein the path along which the needle moves is determined by the puncture guide, and the puncture path of the needle determined by the puncture guide is the puncture path to be detected.

In one possible implementation, fig. 2 shows a schematic view of a puncture guide, as shown in fig. 2, comprising four passively reflective infrared markers 2001, 2002, 2003, 2004 and a fixation groove for fixing the needle. The puncture guide is combined with the optical system host, so that the position of the puncture path can be tracked in real time.

It should be understood that, although the puncture path determined by the puncture navigation system is the target puncture path, there may be a deviation between the puncture path to be detected, which is punctured by the puncture guide based on the target puncture path, and the target puncture path, that is, the puncture path to be detected may be different from the target puncture path.

In one implementation of obtaining a puncture path to be detected, the detection device determines the puncture path to be detected according to a fixed slot in the puncture guide for fixing a needle, in the case that the puncture navigation system determines a target puncture path and controls the puncture guide to move to a target position according to the target puncture path. Because the needle for puncturing is fixed in the fixed slot of the puncture guide, the path through which the needle passes is the path through which the fixed slot passes, and therefore, the detection device can determine the puncture path to be detected according to the fixed slot of the puncture guide. Optionally, the detecting device uses a straight line passing through the central axis of the fixed slot as the puncture path to be detected.

In the implementation manner, as the puncture path to be detected is determined according to the fixed groove, the puncture path to be detected does not need to be determined by fixing the needle in the fixed groove of the guide, the complexity of determining the puncture path to be detected can be reduced, and the efficiency of determining the puncture path to be detected is improved.

In another implementation manner of obtaining the puncture path to be detected, the detection device receives the puncture path to be detected input by a user through an input component, where the input component includes: mouse, keyboard, touch screen, touch pad, audio input device.

In still another implementation manner of obtaining the puncture path to be detected, the detecting device receives the puncture path to be detected sent by the user through the terminal, where the terminal includes: cell phone, computer, tablet computer, intelligent wearable equipment.

102. And acquiring a first coordinate of the first needle insertion point in a world coordinate system and a second coordinate of the first target point in the world coordinate system.

In this embodiment of the present application, the first target is a target point of puncture required for a puncture operation, in other words, the first target is a focus of puncture required for a puncture operation, and it should be understood that the first target is an object point in the real world. The first coordinate is the coordinate of the first needle insertion point in the world coordinate system, and the second coordinate is the coordinate of the first target point in the world coordinate system. In one implementation of acquiring the first coordinates, the detection device receives the first coordinates input by the user through the input component. In another implementation manner of acquiring the first coordinate, the detection device acquires the first coordinate through the first coordinate sent by the terminal.

In one implementation of acquiring the second coordinates, the detection device receives the second coordinates input by the user through the input component. In another implementation manner of acquiring the second coordinate, the detection device acquires the second coordinate through the second coordinate sent by the terminal.

It should be understood that, in the embodiment of the present application, the step of acquiring the first coordinate and the step of acquiring the second coordinate performed by the detection device may be performed separately or simultaneously, which is not limited in this application.

103. And determining an actual puncture path passing through the first needle insertion point and the first target point according to the first coordinate and the second coordinate.

In this embodiment of the present application, the puncture path between the first needle insertion point and the first target point is an actual puncture path, that is, the first needle insertion point is taken as the needle insertion point, and the correct puncture path for puncturing the first target point is the actual puncture path. In one possible implementation, the detection device uses the first coordinate as a starting point, uses the second coordinate as an ending point, and determines a line segment between the starting point and the ending point as an actual puncture path.

104. And determining the precision of the puncture navigation system according to the first difference between the puncture path to be detected and the actual puncture path.

In this embodiment of the present application, the puncture path to be detected is a puncture path determined by the puncture navigation system, the puncture path may represent an actual puncture effect of the puncture navigation system, and the actual puncture path is a correct puncture path, so the detection device may determine the accuracy of the puncture navigation system according to the difference between the puncture path to be detected and the actual puncture path, where the difference between the puncture path to be detected and the actual puncture path is a first difference, and the accuracy of the puncture navigation system is inversely related to the first difference. Specifically, the smaller the first difference is, the smaller the deviation between the puncture path to be detected and the actual puncture path is, namely, the accuracy of the puncture navigation system is high, whereas the larger the first difference is, the larger the deviation between the puncture path to be detected and the actual puncture path is, namely, the accuracy of the puncture navigation system is low.

In the embodiment of the application, the puncture path to be detected is a puncture path determined based on the puncture guide under the condition that the puncture guide path is controlled to puncture based on the target puncture path, wherein the target puncture path is a puncture path planned by the puncture navigation system for the first needle inlet point and the first target point. Therefore, the puncture path to be detected can characterize the effect of puncturing the first target point by taking the first needle insertion point as the needle insertion point through the puncture navigation system.

After the detection device acquires the first coordinate of the first needle insertion point under the world coordinate system and the second coordinate of the first target point under the world coordinate system, the actual puncture path passing through the first needle insertion point and the first target point can be determined according to the first coordinate and the second coordinate. After acquiring the puncture path to be detected and determining the actual puncture path, the detection device can determine the precision according to the first difference under the condition that the first difference between the puncture path to be detected and the actual puncture path is inversely related to the precision of the puncture navigation system.

As an alternative embodiment, the detection device further performs the following steps before performing step 104:

201. and determining the first difference between the puncture path to be detected and the actual puncture path according to the second difference between the second coordinate and the third coordinate of the second target point of the puncture path to be detected.

In the embodiment of the application, the second target is a target determined according to the puncture path to be detected, and the coordinate of the second target under the world coordinate system is a third coordinate. The puncture effect of the puncture navigation system is the difference between the target point and the actual target point which are punctured by the puncture navigation system, namely the puncture effect of the puncture navigation system is the difference between the target point and the actual target point which are determined by puncturing the puncture path to be detected, so that the detection device can determine the first difference between the puncture path to be detected and the actual puncture path according to the second difference of the second coordinate and the third coordinate, and further can determine the precision of the puncture navigation system according to the first difference.

In this embodiment of the present application, the first difference and the second difference are positively correlated, that is, the larger the difference between the first target point and the second target point, the larger the difference between the puncture path to be detected and the actual puncture path, that is, the lower the accuracy of the puncture navigation system. The smaller the difference between the first target spot and the second target spot is, the smaller the difference between the puncture path to be detected and the actual puncture path is, namely the higher the precision of the puncture navigation system is.

In this embodiment, the detecting means may increase the accuracy of the first difference and the speed of determining the first difference in the case where the first difference and the second difference satisfy the relationship of positive correlation, determining the first difference from the second difference.

As an alternative embodiment, the detection means performs the following steps in performing step 104:

301. the second difference is determined.

In one possible implementation, the detection means obtains the second difference by calculating a difference between the second coordinate and the third coordinate.

302. The length of the actual puncture path is determined.

In this embodiment of the present application, the length of the actual puncture path is the distance from the first needle insertion point to the first target point, and this length is the actual puncture distance.

303. And determining the accuracy of the puncture navigation system according to the quotient of the second difference and the length.

In this embodiment of the present application, the accuracy of the puncture navigation system is inversely related to the quotient, that is, the greater the quotient of the second difference and the length of the actual puncture path, the lower the accuracy of the puncture navigation system is.

In one possible implementation, the detection means takes the quotient of the second difference and the length as the accuracy of the puncture navigation system. For example, the second difference is 0.75 mm and the length of the actual puncture path is 110 mm, then the quotient of the second difference and the length of the actual puncture path is 0.75/110=0.68%.

In such an embodiment, the detection means, after determining the second difference and the length of the actual puncture path, determines the accuracy of the puncture navigation system based on the quotient of the second difference and the actual puncture path. The method is equivalent to determining the relative error of the puncture path to be detected by determining the quotient of the absolute error of the puncture path to be detected and the length of the actual puncture path, and determining the precision of the puncture navigation system according to the relative error, so that the deviation of the puncture path to be detected and the actual puncture path can be reflected more intuitively through the precision.

As an alternative embodiment, the detection device, before acquiring the puncture path to be detected, further performs the following steps:

401. a first three-dimensional CT image and a first three-dimensional ultrasound image are acquired.

In this embodiment of the present application, the first three-dimensional CT image includes a third target, which is understood to be a pixel in the first three-dimensional CT image corresponding to the first target. The first three-dimensional ultrasonic image comprises a second needle insertion point corresponding to the first needle insertion point, namely the first needle insertion point is a needle insertion point in the real world, and the second needle insertion point is a pixel corresponding to the first needle insertion point in the first three-dimensional ultrasonic image. The first three-dimensional CT image and the first three-dimensional ultrasonic image are obtained by scanning an object to be punctured, wherein the object to be punctured can be a person or an organ model, and the organ model comprises an organ model and a tissue model. Alternatively, the organ model is a model of the kidney, i.e. the object to be penetrated by the penetration navigation system comprises the kidney.

In one implementation of acquiring a first three-dimensional CT image, a detection device receives the first three-dimensional CT image input by a user through an input component.

In another implementation of acquiring the first three-dimensional CT image, the detection device receives the first three-dimensional CT image sent by the user through the terminal.

In still another implementation manner of acquiring the first three-dimensional CT image, the detection device performs three-dimensional reconstruction based on the plurality of two-dimensional CT images to obtain the first three-dimensional CT image when acquiring the plurality of two-dimensional CT images.

In one implementation manner of acquiring the first three-dimensional ultrasonic image, a communication connection is arranged between the detection device and the ultrasonic probe, and the detection device acquires the three-dimensional ultrasonic image acquired by the ultrasonic probe through the communication connection as the first three-dimensional ultrasonic image.

It should be understood that, in the embodiment of the present application, the step of acquiring the first three-dimensional CT image and the step of acquiring the first three-dimensional ultrasound image performed by the detection device may be performed separately or simultaneously, which is not limited in this application.

402. Registering the first three-dimensional CT image and the first three-dimensional ultrasonic image to obtain a second three-dimensional CT image.

As described above, the pixel coordinate system of the first three-dimensional ultrasound image is the world coordinate system, and therefore, by registering the first three-dimensional CT image with the first three-dimensional ultrasound image, the first three-dimensional CT image can be aligned with the world coordinate system, i.e., in the case that the second three-dimensional CT image is obtained by performing step 402, the pixel coordinate system of the second three-dimensional CT image is already aligned with the world coordinate system.

403. And determining a point corresponding to the third target point in the second three-dimensional CT image as a fourth target point.

In step 402, in the process of registering the first three-dimensional CT image with the first three-dimensional ultrasound image to obtain the second three-dimensional CT image, the position of the pixel in the first three-dimensional CT image changes, and in the process of registering, the position of the third target point changes to obtain the fourth target point. For example, the coordinate of the third target point in the first three-dimensional CT image is p1, and the registration amount of the first three-dimensional CT image is determined as a vector v by registering the first three-dimensional CT image with the first three-dimensional ultrasound image, that is, the displacement of the pixel in the first three-dimensional CT image is v. At this time, the third target point is moved according to the registration amount to obtain a fourth target point, that is, the coordinate of the fourth target point in the second three-dimensional CT image is p1+v.

It should be understood that, since the pixel coordinate system of the second three-dimensional CT image is the same as the world coordinate system, the third target point corresponds to the fourth target point, and the position of the fourth target point in the second three-dimensional CT image is the position of the third target point in the world coordinate system.

404. And determining the target puncture path according to the second needle insertion point and the fourth target point.

In the embodiment of the application, the target puncture path is the puncture path planned by the puncture navigation system. In one possible implementation manner, the detection device uses the coordinates of the second needle insertion point in the first three-dimensional ultrasonic image as a starting point, uses the coordinates of the fourth target point in the second three-dimensional CT image as an ending point, and determines a line segment between the starting point and the ending point as the target puncture path.

In this embodiment, the puncture navigation system obtains the second three-dimensional CT image by registering the first three-dimensional CT image with the first three-dimensional ultrasound image in the case of acquiring the first three-dimensional CT image and the first three-dimensional ultrasound image. Then, under the condition that a fourth target point corresponding to the third target point in the second three-dimensional CT image is determined, a target puncture path can be determined according to the second needle inlet point and the fourth target point, and therefore the puncture path can be planned through the puncture navigation system.

Optionally, after determining the target puncture path by the puncture navigation system, the detection device determines a third difference between the target puncture path and the actual puncture path. By comparing the third difference with the first difference, whether the puncture navigation system generates an error or not can be determined by controlling the puncture guide to puncture based on the target puncture path after determining the target puncture path, namely, the link of the puncture navigation system from which the error is generated can be determined by comparing the third difference with the first difference.

Specifically, the third difference is greater than or equal to the first difference, which indicates that the puncture navigation system controls the puncture guide to puncture based on the target puncture path without generating an error, and the puncture navigation system generates an error in the process of determining the target puncture path. Thus, the detection means determines that the error of the puncture navigation system originates from determining the target puncture path in the case that the third difference is greater than or equal to the first difference. The third difference is smaller than the first difference, which indicates that the puncture navigation system controls the puncture guide to puncture based on the target puncture path to generate an error, so that the detection device determines that the puncture navigation system controls the puncture guide to puncture based on the target puncture path to generate an error when the third difference is smaller than the first difference.

In addition, the third difference greatly indicates that the puncture navigation system generates an error in the process of determining the target puncture path, so that the detection device determines that the puncture navigation system generates an error in the process of determining the target puncture path when the third difference is larger than or equal to a first threshold value, wherein the first threshold value is a basis for judging whether the third difference is large or small, and specifically, the third difference is larger than or equal to the first threshold value and indicates that the third difference is large, and the third difference is smaller than the first threshold value and indicates that the third difference is small.

The detection device determines the source of the error of the puncture navigation system based on the third difference and the first difference, and can pertinently optimize the puncture navigation system, thereby improving the precision of the puncture navigation system.

Optionally, the detecting device further determines the source of the error of the puncture navigation system based on the third difference and the first difference in case the accuracy of the puncture navigation system is low, because it is not necessary to determine the source of the error of the puncture navigation system in case the accuracy of the puncture navigation system is high. The detection device can determine whether the accuracy of the puncture navigation system is high or low based on the second threshold, specifically, the accuracy of the puncture navigation system is greater than or equal to the second threshold, which indicates that the accuracy of the puncture navigation system is high, the accuracy of the puncture navigation system is less than the second threshold, and the accuracy of the puncture navigation system is low.

As an alternative embodiment, the object to be penetrated comprises an organ model and a fixture, wherein the first needle insertion point and the first target point both belong to the fixture. The organ model is a three-dimensional model of the organ, optionally the organ model further comprises a skin tissue model, such that the organ model is more closely related to a real human body.

In one possible implementation, fig. 3 shows a schematic view of an object to be penetrated, as shown in fig. 3, where the object to be penetrated comprises a fixture and an organ model, where the organ model is placed on the fixture, optionally the organ model is fixed on the fixture. As shown in fig. 3, the organ model includes two kidney models and a skin tissue model, wherein the skin tissue model is a transparent part in the organ model. It should be understood that in the physical object of the object to be penetrated, the skin tissue may be non-transparent. Alternatively, in the case of an object to be pierced as shown in fig. 3, the top end of the pillar comprises a conical groove, and the first needle insertion point and the first target point are the centers of the different grooves.

In this embodiment, since the object to be pierced includes the organ model and the fixture, the organ model and the fixture can be pierced by the piercing navigation system, and the accuracy of the piercing navigation system can be detected. Under the condition that the first needle inserting point and the first target point belong to a fixed object, the first coordinate of the first needle inserting point under the world coordinate system and the second coordinate of the first target point under the world coordinate system are convenient to obtain. And because the first needle insertion point and the first target point belong to a fixed object, the first coordinate and the second coordinate are not changed, and therefore the actual puncture path determined based on the first coordinate and the second coordinate is also unchanged, and the accuracy of the puncture navigation system is determined based on the actual puncture path, so that the accuracy of the accuracy can be improved.

As an alternative embodiment, the detection device acquires the first three-dimensional CT image by performing the steps of:

501. a third three-dimensional CT image is acquired.

In the embodiment of the present application, the third three-dimensional CT image is obtained by scanning the object to be punctured.

502. And if a cross section view instruction for the third three-dimensional CT image is detected, determining a target cross section from the third three-dimensional CT image according to the cross section view instruction.

In this embodiment of the present application, the cross-section view instruction includes a position of the cross-section in the third three-dimensional CT image, and the detection device may determine the target cross-section from the third three-dimensional CT image according to the cross-section view instruction after detecting the cross-section view instruction. In one possible implementation, the detection device may display the third three-dimensional CT image after acquiring the third three-dimensional CT image. Fig. 4 is a schematic diagram showing a third three-dimensional CT image, which is obtained by scanning the object to be penetrated shown in fig. 3, as shown in fig. 4. Fig. 4 also shows the relationship of the world coordinate system (i.e., xyz coordinate system in fig. 4) to the body position of the target person, it being understood that the organ model in the object to be penetrated which the target person is supposed to belong to. The lower right corner of fig. 4 also includes three view buttons: the head is left, the kidney is centered, and the head is right. The click head faces to the left, and the left side of the target person, namely the left side of the object to be punctured, can be displayed by adjusting the visual angle of the kidney three-dimensional CT image. Clicking kidney center can display kidney of target person in the middle of kidney three-dimensional CT image by adjusting visual angle of kidney three-dimensional CT image, i.e. display front of object to be punctured. The click head faces to the left, and the right side of the target person, namely the right side of the object to be punctured, can be displayed by adjusting the visual angle of the kidney three-dimensional CT image.

503. The target cross section is shown.

In one possible implementation, FIG. 5 shows a schematic diagram showing a cross section of the object. As shown in fig. 5, the top view of the object to be pierced shown in the upper left corner is the coronal plane, the bottom left corner is the side view of the object to be pierced, the sagittal plane, and the right region is the target cross section. The words and numerals in fig. 5 are temporary information and temporary data during the display process.

504. And when the target point in the target cross section is detected to be used as the target point, the target point in the third three-dimensional CT image is used as the third target point, and the first three-dimensional CT image is obtained.

In one possible implementation manner, when the user determines that the target point in the target cross section is the first target point by observing the target cross section, inputting an instruction taking the target point as a third target point to the detection device, and when the detection device detects the instruction, taking the target point in the third three-dimensional CT image as the third target point to obtain the first three-dimensional CT image. It should be understood that, since the object cross section belongs to the third three-dimensional CT image, the object point in the object cross section is a pixel in the third three-dimensional CT image, and therefore the object point in the object cross section is taken as the third target point, i.e. the object point in the third three-dimensional CT image is taken as the third target point. The detection device may determine a third target point corresponding to the first target point from the third three-dimensional CT image to obtain the first three-dimensional CT image by executing step 504.

As an alternative embodiment, the puncture guide comprises a fixation groove for fixing the needle, and the detection means acquires the puncture path to be detected by performing the steps of:

601. and according to the target puncture path, the mechanical arm is controlled to drive the puncture guide to move to the target position.

In the embodiment, the puncture guide is fixed on the mechanical arm, and the puncture guide can be driven to move by controlling the movement of the mechanical arm. After the puncture navigation system plans to obtain a target puncture path, the puncture navigation system controls the mechanical arm to drive the puncture guide to move to the target position, so that a needle fixed on the puncture guide and the target puncture path are positioned on the same straight line, namely, the straight line passing through a fixing groove used for fixing the needle on the puncture guide and the target puncture path are positioned on the same straight line. In other words, the target position is a starting position for puncturing according to the target puncturing path, that is, when the puncturing guide is located at the target position, the puncturing guide is controlled to move along a straight line passing through the fixing groove, so that the puncturing guide can be controlled to puncture according to the target puncturing path.

602. And determining the puncture path to be detected according to a straight line passing through the fixing groove under the condition that the puncture guide is positioned at the target position.

Under the condition that the puncture guide is positioned at the target position, the puncture path of the needle is a straight line passing through the fixed groove, and the detection device can determine the puncture path to be detected according to the straight line passing through the fixed groove.

In one possible implementation manner, after determining the target puncture path, the puncture navigation system controls the mechanical arm to drive the puncture guide to move to the target position according to the target puncture path, and displays the relationship between the puncture guide and the object to be punctured in the software interface under the condition that the puncture guide is positioned at the target position. For example, fig. 6 is a schematic diagram showing a relationship between the puncture guide and the object to be punctured in a case where the puncture guide is located at the target position, and as shown in fig. 6, the puncture path to be detected may be determined according to the fixing groove of the puncture guide.

In addition, fig. 6 also shows the real-time penetration depth of the penetration according to the penetration path to be detected, and the target penetration depth of the penetration according to the actual penetration path. Fig. 6 also shows the relationship of the world coordinate system (i.e., xyz coordinate system in fig. 6) to the body position of the target person, it being understood that the organ model in the object to be penetrated which the target person is supposed to belong to. The lower right corner of fig. 6 also includes three view buttons: the head is left, the kidney is centered, and the head is right. The click head faces to the left, and the left side of the target person, namely the left side of the object to be punctured, can be displayed by adjusting the visual angle of the kidney three-dimensional CT image. Clicking kidney center can display kidney of target person in the middle of kidney three-dimensional CT image by adjusting visual angle of kidney three-dimensional CT image, i.e. display front of object to be punctured. The click head faces to the left, and the right side of the target person, namely the right side of the object to be punctured, can be displayed by adjusting the visual angle of the kidney three-dimensional CT image.

Based on the technical scheme provided by the embodiment of the application, the embodiment of the application also provides a possible application scene. Under the condition that the object to be punctured is shown in fig. 3, the object to be punctured comprises a stand column, the top end of the stand column is a conical groove, at this time, the centers of different conical grooves can be respectively used as a first needle inlet point and a first target point, then the first difference between the path to be punctured and the target puncture path is determined based on the technical scheme, and further the accuracy of the puncture navigation system can be determined based on the first difference.

Optionally, after determining the first difference, the detecting device determines a quotient of the first difference and a length of the actual puncture path as a relative error of the puncture navigation system. Optionally, the center of each conical groove in the object to be punctured is sequentially used as a first target point, and the relative error of the puncture navigation system is determined. For example, in the case that the length of the actual puncture path is 110mm, the absolute error and the relative error obtained by taking the centers of the different conical grooves as the first target point are shown in table 1 below, wherein the absolute error is the first difference, and the different experimental numbers indicate that the first target point is different.

Experiment number	1	2	3	4	5	6	7	8
									Absolute error (mm)	0.75	0.62	1.04	0.89	0.82	0.84	1.23	0.93
Relative error (%)	0.68％	0.56％	0.95％	0.81％	0.75％	0.76％	1.18％	0.85％

TABLE 1

Alternatively, after obtaining a plurality of relative errors, an average value and a standard deviation of all the relative errors may be calculated, and a confidence interval of the absolute error and a confidence interval of the relative error may be determined based on the average value and the standard deviation. For example, the results shown in table 2 below can be obtained based on the data in table 1.

	Average of	Standard deviation of	Confidence interval (99%)
				Absolute error (mm)	0.89	0.185	【0.76，1.02】
Relative error (%)	0.825％	0.0018	【0.705％，0.945％】

TABLE 2

It will be appreciated by those skilled in the art that in the above-described method of the specific embodiments, the written order of steps is not meant to imply a strict order of execution but rather should be construed according to the function and possibly inherent logic of the steps.

If the technical scheme of the application relates to personal information, the product applying the technical scheme of the application clearly informs the personal information processing rule before processing the personal information, and obtains independent consent of the individual. If the technical scheme of the application relates to sensitive personal information, the product applying the technical scheme of the application obtains individual consent before processing the sensitive personal information, and simultaneously meets the requirement of 'explicit consent'. For example, a clear and remarkable mark is set at a personal information acquisition device such as a camera to inform that the personal information acquisition range is entered, personal information is acquired, and if the personal voluntarily enters the acquisition range, the personal information is considered as consent to be acquired; or on the device for processing the personal information, under the condition that obvious identification/information is utilized to inform the personal information processing rule, personal authorization is obtained by popup information or a person is requested to upload personal information and the like; the personal information processing may include information such as a personal information processor, a personal information processing purpose, a processing mode, and a kind of personal information to be processed.

The foregoing details the method of embodiments of the present application, and the apparatus of embodiments of the present application is provided below.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a precision detecting device 1 of a puncture navigation system according to an embodiment of the present application. The detection device 1 is used for detecting the precision of a puncture navigation system, and the puncture navigation system controls a puncture guide to puncture based on a target puncture path under the condition of planning the target puncture path for a first needle inlet point and a first target point, and the detection device 1 comprises: the acquisition unit 11, the determination unit 12, optionally the detection device 1 further comprises a registration unit 13, in particular:

an obtaining unit 11, configured to obtain a puncture path to be detected, where the puncture path to be detected is a puncture path determined based on the puncture guide when the puncture guide is controlled to puncture based on the target puncture path;

the acquiring unit 11 is further configured to acquire a first coordinate of the first needle insertion point in a world coordinate system and a second coordinate of the first target point in the world coordinate system;

a determining unit 12, configured to determine an actual puncture path through the first needle insertion point and the first target point according to the first coordinate and the second coordinate;

The determining unit 12 is configured to determine, according to a first difference between the puncture path to be detected and the actual puncture path, an accuracy of the puncture navigation system, where the accuracy is inversely related to the first difference.

In combination with any one of the embodiments of the present application, the determining unit 12 is further configured to determine, according to a second difference between the second coordinate and a third coordinate of a second target point of the puncture path to be detected, the first difference between the puncture path to be detected and the actual puncture path, where the first difference and the second difference are positively correlated.

In combination with any one of the embodiments of the present application, the determining unit 12 is configured to:

determining the second difference;

determining the length of the actual puncture path;

With reference to any embodiment of the present application, the acquiring unit 11 is further configured to acquire a first three-dimensional CT image and a first three-dimensional ultrasound image, where the first three-dimensional CT image includes a third target point, the first three-dimensional ultrasound image includes a second needle insertion point corresponding to the first needle insertion point, and the first three-dimensional CT image and the first three-dimensional ultrasound image are both obtained by scanning an object to be punctured;

The detection device 1 further includes:

a registration unit 13, configured to register the first three-dimensional CT image and the first three-dimensional ultrasound image to obtain a second three-dimensional CT image;

the determining unit 12 is further configured to determine a point corresponding to the third target point in the second three-dimensional CT image as a fourth target point;

the determining unit 12 is further configured to determine the target puncture path according to the second needle insertion point and the fourth target point.

In combination with any of the embodiments of the present application, the puncture guide comprises a fixing groove for fixing the needle, and the obtaining unit 11 is configured to:

In combination with any one of the embodiments of the present application, the obtaining unit 11 is configured to:

displaying the target cross section;

In this embodiment of the present application, after obtaining the first coordinate of the first needle insertion point in the world coordinate system and the second coordinate of the first target point in the world coordinate system, the detection device may determine, according to the first coordinate and the second coordinate, an actual puncture path passing through the first needle insertion point and the first target point. After acquiring the puncture path to be detected and determining the actual puncture path, the detection device can determine the precision according to the first difference under the condition that the first difference between the puncture path to be detected and the actual puncture path is inversely related to the precision of the puncture navigation system.

In some embodiments, functions or modules included in the apparatus provided in the embodiments of the present application may be used to perform the methods described in the foregoing method embodiments, and specific implementations thereof may refer to descriptions of the foregoing method embodiments, which are not repeated herein for brevity.

Fig. 8 is a schematic hardware structure of an electronic device according to an embodiment of the present application. The electronic device 2 comprises a processor 21 and a memory 22. Optionally, the electronic device 2 further comprises input means 23 and output means 24. The processor 21, memory 22, input device 23, and output device 24 are coupled by connectors, including various interfaces, transmission lines or buses, etc., as not limited in this application. It should be understood that in various embodiments of the present application, coupled is intended to mean interconnected by a particular means, including directly or indirectly through other devices, e.g., through various interfaces, transmission lines, buses, etc.

The processor 21 may be one or more graphics processors (graphics processing unit, GPUs), which may be single-core GPUs or multi-core GPUs in the case where the processor 21 is a GPU. Alternatively, the processor 21 may be a processor group formed by a plurality of GPUs, and the plurality of processors are coupled to each other through one or more buses. In the alternative, the processor may be another type of processor, and the embodiment of the present application is not limited.

Memory 22 may be used to store computer program instructions as well as various types of computer program code for performing aspects of the present application. Optionally, the memory includes, but is not limited to, a random access memory (random access memory, RAM), a read-only memory (ROM), an erasable programmable read-only memory (erasable programmable read only memory, EPROM), or a portable read-only memory (compact disc read-only memory, CD-ROM) for associated instructions and data.

The input means 23 are for inputting data and/or signals and the output means 24 are for outputting data and/or signals. The input device 23 and the output device 24 may be separate devices or may be an integral device.

It will be appreciated that in the embodiments of the present application, the memory 22 may be used to store not only relevant instructions, but also relevant data, and the embodiments of the present application are not limited to the data specifically stored in the memory.

It will be appreciated that fig. 8 shows only a simplified design of an electronic device. In practical applications, the electronic device may further include other necessary elements, including but not limited to any number of input/output devices, processors, memories, etc., and all electronic devices that may implement the embodiments of the present application are within the scope of protection of the present application.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein. It will be further apparent to those skilled in the art that the descriptions of the various embodiments herein are provided with emphasis, and that the same or similar parts may not be explicitly described in different embodiments for the sake of convenience and brevity of description, and thus, parts not described in one embodiment or in detail may be referred to in the description of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted across a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disk (digital versatile disc, DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.

Those of ordinary skill in the art will appreciate that implementing all or part of the above-described method embodiments may be accomplished by a computer program to instruct related hardware, the program may be stored in a computer readable storage medium, and the program may include the above-described method embodiments when executed. And the aforementioned storage medium includes: a read-only memory (ROM) or a random access memory (random access memory, RAM), a magnetic disk or an optical disk, or the like.

Claims

1. The method for detecting the precision of the puncture navigation system is characterized by comprising the following steps of detecting the precision of the puncture navigation system, and controlling a puncture guide to puncture based on a target puncture path under the condition that the puncture navigation system plans the target puncture path for a first needle inlet point and a first target point, wherein the method comprises the following steps:

2. The method of claim 1, wherein prior to said determining the accuracy of the puncture navigation system based on the first difference between the puncture path to be detected and the actual puncture path, the method further comprises:

3. The method of claim 2, wherein determining the accuracy of the puncture navigation system based on the first difference between the puncture path to be detected and the actual puncture path comprises:

determining the second difference;

determining the length of the actual puncture path;

4. A method according to any one of claims 1 to 3, wherein prior to said obtaining a puncture path to be detected, the method further comprises:

acquiring a first three-dimensional CT image and a first three-dimensional ultrasonic image, wherein the first three-dimensional CT image comprises a third target point, the first three-dimensional ultrasonic image comprises a second needle insertion point corresponding to the first needle insertion point, and the first three-dimensional CT image and the first three-dimensional ultrasonic image are obtained by scanning an object to be punctured;

5. The method of claim 4, wherein the object to be penetrated comprises an organ model and a fixture, and wherein the first needle insertion point and the first target point both belong to the fixture.

6. The method of claim 4, wherein the puncture guide comprises a fixation slot for securing a needle, the obtaining a puncture path to be detected comprising:

7. The method of claim 4, wherein the acquiring a first three-dimensional CT image comprises:

displaying the target cross section;

8. An accuracy detection device of a puncture navigation system, wherein the detection device is used for detecting accuracy of the puncture navigation system, and the puncture navigation system controls a puncture guide to puncture based on a target puncture path under the condition that a target puncture path is planned for a first needle inlet point and a first target point, the detection device comprises:

9. An electronic device, comprising: a processor and a memory for storing computer program code comprising computer instructions which, when executed by the processor, cause the electronic device to perform the method of any one of claims 1 to 7.

10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1 to 7.