Puncture auxiliary device based on ultrasonic guidance and puncture method thereof

The invention discloses a puncture auxiliary device based on ultrasonic guidance and a puncture method thereof.The puncture auxiliary device comprises an annular fixing frame connected with an ultrasonic probe, the annular fixing frame is connected with a guide frame for guiding a puncture needle through a multi-degree-of-freedom mechanical arm, and position sensors are arranged on all degrees of freedom of the multi-degree-of-freedom mechanical arm; a magnetic navigation sensor array made of magnetic sensitive materials is arranged in the ultrasonic probe, a puncture needle is magnetized by the magnetizer and then placed into the guide frame, and the ultrasonic probe, the magnetic navigation sensor array and the position sensor are all connected with the processing module and the control module. And the processing module is connected with a display module for displaying an ultrasonic image, a sensor positioning puncture needle position image and a magnetic tracking puncture needle position image. The device