Method for tracking needle and displaying paths of venipuncture robot

The present invention relates to a method for tracking a needle and displaying paths of a venipuncture robot. The method comprises the following steps: calibrating a relative position of the robot anda 4D ultrasonic probe, reducing voxel spaces according toprior motions of the robot, and enhancing a voxel brightness comparison of a puncture needle and a background area by using a 3D linear filter; determining an initial axis direction of the puncture needle by applying a random sampling consistency algorithm; marking a position of a needle tip in the initial axis direction of the puncture needle; constructing a tracking candidate area of the puncture needle; updating the axis direction and the position of the needle tip of the puncture needle in real time in the tracking candidate area ofthe puncture needle; obtaining a two-dimensional ultrasonic section on a determined plane; and determining two orthogonal axial sections for displaying the axial conditions of the puncture needle anda vein according to the po