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Vein puncture robot operation trajectory planning method based on ultrasonic image guidance

A technology for venipuncture and trajectory planning, applied in surgical robots, puncture needles, image enhancement, etc., to achieve the effect of fast speed, high degree of automation, and few parameters

Active Publication Date: 2020-12-04
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a venipuncture robot operation trajectory planning method based on ultrasound image guidance in order to overcome the defect that the venipuncture robot does not involve puncture trajectory planning in the prior art

Method used

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  • Vein puncture robot operation trajectory planning method based on ultrasonic image guidance
  • Vein puncture robot operation trajectory planning method based on ultrasonic image guidance
  • Vein puncture robot operation trajectory planning method based on ultrasonic image guidance

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Embodiment 1

[0046] like figure 1 , The present embodiment provides a puncture venipuncture robot trajectory planning method based on an ultrasound image guided, robots for automatically venipuncture, help the robot trajectory delineated puncture, the puncture needle operation robot arm in a predetermined trajectory, automatic puncture the vein the piercing member piercing robot control vascular puncture.

[0047] The first method uses U-Net network framework vascular ultrasound image segmentation; then delineated boundaries and vascular puncture track limits from the segmentation result; and matching of the limits, determines the feasibility of the puncture; last puncturing implement predetermined trajectory, the above It includes the following steps:

[0048] Vessel segmentation Step S1: acquiring an ultrasound image of a blood vessel puncture site to be an object, and acquires from the vessel segmentation FIG IVUS image. FIG vessel segmentation requires obtaining vascular and vascular divid...

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Abstract

The invention relates to a vein puncture robot operation trajectory planning method based on ultrasonic image guidance. The vein puncture robot operation trajectory planning method based on the ultrasonic image guidance is characterized by performing vein puncture through a puncture piece controlled by the vein puncture robot, and comprises the following steps: 1) acquiring a blood vessel ultrasonic image of a certain part of a subject to be punctured, and acquiring a blood vessel segmentation map from the blood vessel ultrasonic image; 2) defining bounds of a puncture trajectory according toa preset first puncture trajectory of the puncture piece in the blood vessel; 3) dividing a safe area from the blood vessel segmentation map to obtain boundaries of the blood vessel; 4) matching the bounds of the puncture trajectory with the boundaries of the blood vessel, and generating a second puncture trajectory on basis of matched positions and the first puncture trajectory if the bounds of the puncture trajectory are completely covered by the boundaries of the blood vessel, or changing the part of the subject to be punctured and performing the above steps again. Compared with the prior art, the vein puncture robot operation trajectory planning method based on the ultrasonic image guidance includes trajectory planning so that automatic puncture can be achieved, thereby realizing highdegree of automation and guaranteeing safety of the puncture trajectory.

Description

Technical field [0001] The present invention relates to the field of operation of the robot venipuncture, and more particularly to an ultrasound image based on the guided venipuncture trajectory planning robot operating method. Background technique [0002] Auxiliary flow path prior ultrasonic upper venipuncture technique as follows: Ultrasound vein puncture, the puncture needle trajectory observed in real time, the completion of the puncture, essentially manually by the medical personnel with the aid of ultrasound equipment, are mostly related to the invention the guide vein ultrasound puncture, low degree of automation. [0003] Patent CN111339828A discloses a vein in the infrared image recognition method based on Doppler ultrasound and binding, comprising: acquiring patient images be intravenous recognition site, and the venous image preprocessing. The method developed by vein to help medical staff better identify vein, but not as well as venous puncture needle trajectory plan...

Claims

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Application Information

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IPC IPC(8): A61B17/34A61B34/10A61B34/20A61B34/30G06T7/11G06T7/62
CPCA61B17/3403A61B34/10A61B34/20A61B34/30G06T7/11G06T7/62A61B2034/2063A61B2034/2065A61B2034/107A61B2034/108A61B2017/3413G06T2207/10132G06T2207/30101G06T2207/20104
Inventor 齐鹏陈禹
Owner TONGJI UNIV
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