BIOPSY NEEDLE POSITIONING SYSTEM, BIOPSY NEEDLE POSITIONING METHOD, AND MEDICAL DEVICE SYSTEM

Abstract

A biopsy needle positioning system, a biopsy needle positioning method, and a medical device system is described. The biopsy needle positioning system includes a marker assembly including a marker and a cannula that is fixed relative to the marker and carries a biopsy needle, an image acquisition apparatus being mounted at a position at which the marker can be photographed, and configured to acquire an RGB image of the marker and a depth image corresponding to the RGB image, and a positioning apparatus, which extracts an RGB feature and a point cloud feature of the marker based on the RGB image and the depth image of the marker by using a trained network model, and estimates an estimated position and attitude of the marker based on the RGB feature and the point cloud feature, to obtain an insertion point and an insertion angle of the biopsy needle.

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