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Control method of full-automatic vein puncture recognition integrated robot

A technology of venipuncture and control methods, which is applied in surgical robots, puncture needles, character and pattern recognition, etc. It can solve the problems of unrecognizable vein subdivision structure, low application rate of blood vessel models, and large computing power consumption, and achieve modeling Fast speed, easy to move and operate, avoid noise effect

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

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Problems solved by technology

This method consumes a lot of computing power, has a low application rate of the vascular model, and has a single mode, so it cannot identify the vein subdivision structure

Method used

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  • Control method of full-automatic vein puncture recognition integrated robot
  • Control method of full-automatic vein puncture recognition integrated robot
  • Control method of full-automatic vein puncture recognition integrated robot

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Embodiment Construction

[0064] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0065] This embodiment provides a control method for a fully automatic venipuncture recognition integrated robot. Such as figure 1 As shown, the venipuncture recognition integrated robot includes a puncture module and an image acquisition module. The puncture module includes a puncture motion mechanism and a puncture mechanism. The image acquisition module includes an image motion mechanism, an ultrasonic probe, and a monocular near-infrared camera. The ultrasound mode of the ultrasound probe in this embodiment adopts volumetric ultrasound.

[0066] Such as figure 2 As shown, the ...

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Abstract

The invention relates to a control method of a full-automatic vein puncture recognition integrated robot. The control method comprises the steps that a monocular near-infrared camera continuously acquires two-dimensional near-infrared images of a target, blood vessels recognized in the two-dimensional near-infrared images are scored through an image neural network, and the vein with the highest score serves as a target blood vessel; the near-infrared camera acquires the posture of a puncture needle of a puncture mechanism before and after conversion, and the current posture of the puncture needle is refreshed and calibrated; an image movement mechanism moves an ultrasonic probe to the position above the target blood vessel and presses the target blood vessel; the ultrasonic probe collectsa sectional view of the target blood vessel for vein blood vessel three-dimensional reconstruction; and the puncture movement mechanism punctures the target blood vessel, and the near-infrared cameraacquires the current posture of the puncture needle in real time in the puncture process. Compared with the prior art, the recognition precision of the puncture position is higher, the modeling speedis higher, blood vessel detail structure display is more precise and complete, and the puncture safety performance is better.

Description

technical field [0001] The invention relates to the field of venipuncture robots, in particular to a control method for a fully automatic venipuncture recognition integrated robot. Background technique [0002] Manual venipuncture by medical staff has low accuracy and is prone to cross-infection between doctors and patients. Automatic venipuncture robots are an emerging direction of smart medical care due to their high degree of automation and accurate puncture. However, the existing venipuncture robots have problems such as low precision, single mode, and low degree of automation. [0003] Alvin I. Chen et al. used binocular near-infrared and ultrasound in the literature "deep learning robotic guidance for autonomous vascular access" to identify blood vessels in the patient's forearm and perform puncture control. Binocular near-infrared recognition and modeling of the patient's forearm vein network consumes too much computing power, takes a long time to achieve real-time p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/20A61B34/10A61B17/34A61B34/30G06K9/62G06N3/04G06T7/00G06T7/143G06T7/33G06T17/00
CPCA61B34/20A61B34/10A61B17/3403A61B34/30G06T7/0012G06T7/143G06T7/344G06T17/00A61B2034/2063A61B2034/2065A61B2034/105A61B2034/107A61B2034/108A61B2017/3413A61B2034/2055G06T2207/10048G06T2207/10132G06T2207/20081G06T2207/20084G06T2207/30101G06N3/045G06F18/2321G06F18/24155G06F18/295
Inventor 齐鹏田智宇王宇轩曹旭陈禹
Owner TONGJI UNIV
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