A control decision-making method and system for a puncture-assisted robot

Abstract

The invention provides a control decision-making method and system of a puncture assisted robot. The method comprises the following steps: S1, building a real-time blood vessel model of a blood vesselin a puncture target region based on real-time ultrasonic image data of the puncture target region on a target human body, and building a reference blood vessel model based on set physical sign parameters of the target human body and pre-stored medical data; S2, correspondingly comparing the blood vessel of the real-time blood vessel model with the blood vessel in the reference blood vessel modelsection by section, and determining puncture feasibility evaluation data of each section on the blood vessel in the real-time blood vessel model; and S3, determining an optimal puncture part in the puncture target region based on the puncture feasibility evaluation data. The control decision-making method can effectively overcome the lack of experience of a doctor, provide a quantification indexfor puncture operation, effectively guarantee the success rate of the puncture operation feasibility and a positive effect of the puncture operation and avoid a puncture failure risk.

Description

technical field [0001] The present invention relates to the technical field of medical devices, and more specifically, to a control decision-making method and system for a puncture-assisted robot. Background technique [0002] Central venous puncture is the first step in central venous catheterization, and it is an important medical technology widely used in emergency treatment, intensive care, cardiovascular interventional therapy, surgical anesthesia, high-energy nutritional support and other fields. The puncture operation requires high skill levels of medical staff, and the initial puncture success rate is low. [0003] The main factors affecting the success rate of central venous puncture include the selection of puncture site, puncture path, and control of puncture needles. There are also other factors such as deformation of the target vessel. The puncture-assisted robot under ultrasound intervention solves the problem that the puncture operation requires doctors to h...

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Problems solved by technology

[0004] However, in the actual puncture operation, the feasibility of puncture cannot be accurately evaluated, and the success rate and effect of puncture operation cannot be guaranteed due to the influence of various physical factors such as patient size, age, blood pressure, vascular deformation, and anatomical variation.

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