Puncture abnormality detection method, device, puncture device and computer storage medium

Abstract

The invention discloses a puncture abnormality detection method, a device, a puncture device and a computer storage medium. The puncture abnormality detection method comprises the following steps: acquiring motion data, a joint current and a puncture action force induction value of a mechanical arm in real time; fusing the joint current and the puncture action force induction value to obtain a puncture action force fusion value; based on a relationship between motion of the mechanical arm and puncture action force, performing calculating to obtain a puncture action force ideal value accordingto the motion data; and comparing the puncture action force fusion value with a puncture action force ideal value, and judging whether puncture abnormality occurs or not according to a comparison result. According to the method, the fusion value of the puncture acting force can be calculated in real time according to relevant parameters of the mechanical arm, and the fusion value is compared withthe ideal value of the puncture acting force under a motion condition of the current mechanical arm, so that whether a puncture abnormal condition occurs or not can be automatically and accurately judged, and accidental injury to a puncture object is prevented.

Description

technical field [0001] Embodiments of the present invention relate to medical device technology, and in particular to a method and device for detecting abnormal puncture, a puncture device, and a computer storage medium. Background technique [0002] With the development of robotic technology, puncture robots and other equipment are gradually used in the field of surgery. However, due to the limitations of clinical imaging technology, it may not be possible to obtain the puncture status in real time, resulting in the inability to accurately judge whether abnormalities occur during the puncture process. Therefore, when an abnormal puncture occurs, it may cause unexpected damage to the puncture object because the abnormal condition cannot be detected in time and the puncture is stopped. Contents of the invention [0003] Based on this, aiming at the above-mentioned technical problems, the present invention provides a method, device, computer equipment and storage medium for ...

AI Technical Summary

Problems solved by technology

[0002] With the development of robotic technology, puncture robots and other equipment are gradually used in the field of surgery. However, due to the limitations of clinical imaging technology, it may not be possible to obtain the puncture status in real time, resulting in the inability to accurately judge whether abnormalities occur during the puncture process.

Therefore, when an abnormal puncture occurs, it may cause unexpected damage to the punctured object due to the inability to detect the abnormal situation in time and stop the puncture

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