CN119818157A - Automatic venous and arterial puncture control method, device and system - Google Patents
Automatic venous and arterial puncture control method, device and system Download PDFInfo
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Abstract
The invention discloses an automatic vein and artery puncture control method which is used for realizing high-precision puncture through accurate control and comprises the steps of collecting blood vessel ultrasonic images after automatic vein and artery puncture control is determined to be started, establishing a static artery blood vessel detection model aiming at target blood vessel ultrasonic image data based on a lightweight depth network and a target detection algorithm, acquiring blood vessel images to be detected and positioned in real time, acquiring blood vessel positions and categories based on the trained blood vessel detection model, confirming target blood vessel positions based on the blood vessel positions and the categories, determining the target blood vessel positions as puncture target positions, planning puncture paths based on the target blood vessel positions, including vein puncture path planning and artery puncture path planning, and converting paths and control parameters based on the puncture path planning. The device and the system have low requirements on working environment, can adapt to dynamic environment, are convenient to popularize, reduce puncture difficulty and labor intensity and are portable.
Description
Technical Field
The invention relates to the technical field of medical instruments, venipuncture and arterial puncture control, in particular to an automatic venous and arterial puncture control method, device and system.
Background
When a part of patients are subjected to venipuncture, especially patients subjected to long-term transfusion, the positions of vein blood vessels are difficult to determine, repeated puncture is often required, and a small amount of patients have lesions or traumas on the skin surface, so that although blood collection and transfusion can be performed, the positions of the blood vessels are difficult to puncture by judging the positions of the blood vessels by human eyes.
The artery is deeper relative to the vein, the artery puncture is difficult to directly look at the artery on the superficial skin, the artificial artery puncture needs to help judge the position of the artery by touching the artery pulsation to puncture, the artery puncture is more difficult than the vein puncture, and puncture failure can cause problems such as subcutaneous hematoma. Typically, arterial puncture requires a higher level of experience on the part of the operator than venipuncture.
The automatic blood vessel puncture equipment based on ultrasonic probe blood vessel acquisition and positioning and mechanical force application can remarkably relieve pain of repeated puncture of a patient, reduce risk of puncture failure and reduce requirements on experience of operators. The venipuncture function can effectively avoid pains caused by repeated puncture of the superficial vein, and also can effectively avoid damage of an anti-tumor medicament to blood vessels and local tissue necrosis caused by medicament extravasation. The arterial puncture function can effectively improve the puncture success rate and reduce the repeated puncture pain and risk caused by puncture failure. In recent years, the auxiliary puncturing of the soft tissue puncturing robot is paid more attention to, however, the traditional large puncturing robot has the problems of high cost, high requirements on working environment, limited puncturing positions and the like, and the auxiliary puncturing of the robot is difficult to achieve the degree of wide application.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the following technical scheme, namely the automatic vein and artery puncture control method, the automatic vein and artery puncture control device and the portable automatic artery and artery puncture device and system, which can realize puncture on different parts of a human body by being held by an operator, have low requirements on working environment, can adapt to dynamic environment, are convenient to popularize and apply, can realize high-precision positioning on vein or artery blood vessels, and automatically control the actions of advancing, placing and withdrawing the puncture device, reduce the difficulty and labor intensity of the operator for judging the blood vessel position and performing puncture by experience, and are convenient to carry and adapt to dynamic scene application.
In one aspect, the present invention provides an automatic venous and arterial puncture control method for realizing high-precision puncture by precise control, including:
s1, acquiring a blood vessel ultrasonic image after determining to start automatic venous and arterial puncture control;
S2, establishing an arteriovenous vessel detection model based on a lightweight depth network and a target detection algorithm aiming at the target vessel ultrasonic image data, wherein the vessel detection model is used for detecting and positioning a vessel;
S3, acquiring a blood vessel image to be detected and positioned in real time, and acquiring the position and the category of the blood vessel based on the trained blood vessel detection model;
S4, confirming a target blood vessel position based on the blood vessel positioning and classification, wherein the target blood vessel position is a puncture target position;
S5, performing puncture path planning based on the target blood vessel position, wherein the puncture path planning comprises venipuncture path planning and arterial puncture path planning;
s6, converting the path and the control parameters based on the puncture path planning.
Preferably, the lightweight depth network comprises YOLOv, nanoDet or NanoDe-plus.
Preferably, the S2 includes:
s21, a basic blood vessel detection model is established, and the acquired blood vessel positions in the blood vessel ultrasonic image are manually marked to obtain an image after manual marking;
s22, performing model training on the basic blood vessel detection model based on the image after manual labeling to obtain a trained blood vessel detection model.
Preferably, the S3 includes:
S31, acquiring a blood vessel image to be detected and positioned in real time through an ultrasonic instrument, and inputting the blood vessel image to be detected and positioned into the trained blood vessel detection model to obtain all blood vessels in the image as a first detection result;
s32, fusing the first detection result with a vein artery blood vessel classification method of color ultrasound to obtain high-precision blood vessel positioning and classification, wherein the high-precision blood vessel positioning and classification is used for subsequent target blood vessel selection and puncture calculation, and the method comprises the following steps:
(1) Selecting a detection target area based on the first detection result, namely selecting the position where a blood vessel possibly exists in the B ultrasonic image according to the puncture target, and intercepting part of the whole image as the detection target area;
(2) The method comprises the steps of obtaining a first detection result in a detection target area by a blood vessel positioning and rough classification method based on deep learning, wherein the first detection result in the detection target area is positioned and roughly classified by the blood vessel positioning method based on deep learning, and the first detection result is a circumscribed rectangle or square of a blood vessel;
(3) Performing high-precision vein and artery classification based on a color Doppler method or a spectrum Doppler method, thereby obtaining high-precision vein and artery distinction corresponding to the coarse classification;
(4) Static artery classification and vascular edge fitting, comprising:
A. determining the blood vessel type based on the consistency of the rough classification of the vein or the artery and the high-precision vein and artery classification based on the color Doppler effect or the spectrum Doppler method, and prompting further confirmation when the inconsistency of the high-precision vein and artery classification based on the color Doppler effect or the spectrum Doppler method and the low-precision vein and artery classification based on the color Doppler effect or the spectrum Doppler method are adopted directly;
B. The method for carrying out binarization and fusion on the ultrasonic image and the colored image comprises the steps of carrying out binarization and fusion on the ultrasonic image and the colored image respectively in a detected rectangular region of the blood vessel, carrying out Hough transformation circle or ellipse detection to obtain a high-precision circle or ellipse fitting result on the edge of the blood vessel, wherein the method for carrying out binarization and fusion on the ultrasonic image and the colored image comprises the steps of carrying out binarization or gray image on the ultrasonic image and the colored image, representing the blood vessel region 0, representing the other region 1, and adding the two images to enable the blood vessel region to be more obvious.
Preferably, the prompting further confirms that the prompting includes:
The human-computer mutual pressing type vein blood vessel confirmation comprises prompting to perform manual pressing confirmation when the type of the blood vessel cannot be judged automatically with high precision, judging that the blood vessel is an artery if a proper pressing probe observes an image and does not change along with the pressing force, judging that the blood vessel is a vein if the blood vessel is closed gradually along with the increasing of the pressing force, and determining the target blood vessel by manually clicking a screen, namely inputting system vein and artery information.
Preferably, the S4 includes:
s41, selecting an arteriovenous target according to the working state, wherein the method comprises the following steps of:
(1) If the current working mode is venipuncture, selecting an available vein with proper distance from the skin as a target vein, and if a plurality of available veins exist, forming a candidate set, wherein the proper distance from the skin is the type of the vein which needs to be selected according to a puncture task;
(2) If the current working mode is arterial puncture, selecting an arterial vessel closest to the skin as a target vessel, and if a plurality of available vessels exist, forming a candidate set;
S42, selecting an optimal target blood vessel according to the position and the correlation of the blood vessel;
The vein target vessel preferential strategy comprises the steps of selecting the thickest vessel for puncture, ensuring that no other vessels exist between the punctured vessel and skin, and ensuring that no vessel overlap exists, wherein the vein target vessel preferential strategy is completed through geometric calculation comparison;
The arterial target vessel preferential strategy is that the arterial target vessel is as close to the skin as possible under the condition that the thickness meets the requirement, no other vessels exist between the punctured vessel and the skin, and no overlapping of the vessels exists.
Preferably, the venipuncture path planning includes:
(1) Connecting the center of the target blood vessel with the needle direction selection center, and judging whether other vein blood vessels exist in the connecting path;
(2) If no other vein is available, the planning is successful, and the angle between the steel needle and the skin and the penetration length are calculated;
(3) If other vein blood vessels exist, judging whether the vein blood vessels in the path are other vein blood vessels meeting the puncture requirement, replacing the other vein blood vessels meeting the puncture requirement with target blood vessels, and re-planning the puncture path, and if the puncture requirement is not met, returning to select the other vein blood vessels meeting the puncture requirement as the target blood vessels, wherein the puncture requirement comprises that the vein blood vessels and the thickness of the blood vessels meet the puncture requirement;
(4) Under the condition that all other vein blood vessels can not meet the puncture requirement, the prompting position is unsuitable, and an operator is required to adjust;
The arterial puncture path planning is a planning strategy for searching a feasible path from a vertical direction to two measurements, and comprises the following steps:
(1) Connecting the center of the target blood vessel with the needle direction selection center, and judging whether other vein or artery blood vessels exist in the connecting path;
(2) If no other vein or artery blood vessel exists, the planning is successful, and the angle between the steel needle and the skin and the penetration length are calculated;
(3) If there are other vein or artery blood vessels, the user needs to prompt that the puncture can not be safely performed and needs to readjust the fixed position of the needle, if the needle is provided with a transverse movement control mechanism, the user can transversely adjust the position of the needle according to a fixed step length to search, and if the needle is not provided with the transverse movement control mechanism, the prompt position is unsuitable and the user needs to adjust.
Preferably, the step S6 includes:
S61, after the puncture path is successfully planned, the control device combines the current angle and the needle point position information of the puncture needle body to be punctured with the planned puncture path to form displacement vector information, wherein the displacement vector information comprises axial displacement and angular displacement;
s62, the control device converts the displacement vector information into a control signal and transmits the control signal to the driving device;
S63, the driving device receives the displacement vector information, outputs an electric signal and controls the motor of the automatic venous artery puncture device to move for puncture.
A second aspect of the present invention provides an automatic venous artery puncture device for performing automatic venous artery puncture based on the control method of the first aspect, comprising a fixing device, a guiding device and a driving device, wherein the fixing device is slidingly connected with the guiding device, and the fixing device is fixedly connected with the driving device, and wherein:
The fixing device is used for fixing a needle body to be punctured and a hose to be placed in, and the hose to be placed in is fixed on the fixing device through the needle body to be punctured;
The guiding device is used for determining the position of a target blood vessel, namely the puncture target position;
the driving device is used for driving the fixing device to move along the direction guided by the guiding device;
The fixing device comprises a needle cylinder, an inner cylinder, an outer cylinder, a first connecting piece, a fixing plate, a needle clamp and a needle withdrawal button, wherein a hose to be placed is fixedly arranged on the needle cylinder through a needle body to be punctured, the needle cylinder is arranged in the inner cylinder and is fixedly connected with the inner cylinder, the inner cylinder is arranged in the outer cylinder through the first connecting piece and can be slidably connected with the inner cylinder, the outer cylinder is fixedly arranged on the fixing plate through the first connecting piece, the needle clamp is matched with the needle withdrawal button and is used for triggering the needle withdrawal button under the action of external force so as to separate the needle body to be punctured from the fixing device, the relative space position between the initial position of the hose to be punctured and the ultrasonic probe is determined after the hose to be punctured is fixed on the fixing device, the hose to be punctured is not changed, and the fixing device is calibrated and then is used for a control algorithm, so that puncture control based on ultrasonic image positioning can be realized;
The guiding device comprises three parts, namely an ultrasonic probe, a needle guiding piece and an outer cylinder guiding piece, wherein the ultrasonic probe is used for guiding the fixing device and the needle to be punctured to move in a fixed direction based on the position of an ultrasonic positioning blood vessel, the ultrasonic probe is used for collecting data information of a preselected target blood vessel through ultrasonic waves and sending the data information to the control device, the needle guiding piece is fixedly arranged on the ultrasonic probe, the needle to be punctured is erected on the needle guiding piece, the outer cylinder guiding piece is fixedly arranged on the fixing plate, and the outer cylinder is erected on the outer cylinder guiding piece;
The ultrasonic probe is matched with the ultrasonic coupling sleeve for use, and the ultrasonic coupling sleeve is arranged at the front end of the ultrasonic probe in a detachable and easily detachable mounting mode for many times;
The driving device is connected with the control device and used for driving the fixing device to move along the direction guided by the guide device, the driving device is divided into a needle control part driving device and a tube placing part driving device, the needle control part driving device comprises a needle control motor and a second connecting piece, the needle control motor is fixedly arranged on the fixing plate and fixedly connected with the inner cylinder through the second connecting piece, the tube placing part driving device comprises a tube placing motor, a third connecting piece, an outer cylinder connecting rod and a motor connecting rod, the tube placing motor is fixedly arranged on the fixing plate through the motor connecting rod, the tube placing motor is fixedly connected with the third connecting piece, and the third connecting piece is connected with the outer cylinder through the outer cylinder connecting rod.
A third aspect of the present invention is to provide a venous arterial puncture system, completed by the cooperation of a control device and the automatic venous arterial puncture device according to the second aspect, the automatic venous arterial puncture device being connected to the control device, wherein:
The automatic venous artery puncture device acquires data information of a preselected target blood vessel through an ultrasonic probe and sends the data information of the preselected target blood vessel to the control device;
The control device is used for receiving the data information of the preselected target blood vessel, calculating the position information of the target blood vessel according to the data information, and generating a control signal for controlling the automatic venous artery puncture device to work according to the position information;
The control device is used for accurately controlling the movement step length of the needle control motor and the tube motor, converting blood vessel information acquired by the ultrasonic probe into position information of a target blood vessel and a puncture path based on algorithm identification and optimization, comparing current coordinate information of a puncture point and a needle body to be punctured by the control device, calculating a displacement vector, and transmitting the displacement vector to the drive device in a control signal mode, wherein the drive device receives the control signal and moves to the puncture point according to the control signal.
A fourth aspect of the invention provides an electronic device comprising a processor and a memory, the memory storing a plurality of instructions, the processor being for reading the instructions and performing the method according to the first aspect.
A fifth aspect of the invention provides a computer readable storage medium storing a plurality of instructions readable by a processor and for performing the method of the first aspect.
The control method, the control device and the control system provided by the invention have the following beneficial effects:
The intravenous puncture device of this patent compares with the manual puncture of manual or mechanical force's among the prior art auxiliary medical robot operation puncture, and it has following advantage:
1. The whole cost is low compared with the robot medical system, the practicability is strong, the integrated machine is portable, and the system is suitable for dynamic environments.
2. The venipuncture device and the ultrasonic probe form puncture mechanical connection, and the automatic control puncture operation is realized by matching with the control device, so that an operator is not required to participate in the puncture operation, the efficiency is improved, the dependence on the experience of the operator is reduced, and the influence of the operation habit of the operator is avoided.
3. Based on a blood vessel positioning algorithm of an ultrasonic image, vein and artery control are distinguished, a guiding device in a vein puncture device adopts an ultrasonic probe to position veins and artery blood vessels, and compared with the hand touch determination position by eye in manual puncture, the blood vessel positioning accuracy is greatly improved, and the puncture accuracy can be ensured.
4. The ultrasonic probe is connected with the ultrasonic coupling sleeve, the ultrasonic coupling sleeve is a disposable product, and the connection adopts a connection mode which is easy to disassemble and assemble and can be disassembled and assembled for many times. The ultrasonic coupling sleeve replaces the common ultrasonic coupling agent coated on the skin, so that the pollution to the acupuncture position is avoided. The coupling sleeve is added to meet the imaging requirement of the ultrasonic probe and ensure that the aseptic requirement of the puncture part is not influenced.
5. The ultrasonic coupling sleeve is a disposable sterile product, can be aligned with the outer surface by adopting a disinfection means, and can still puncture the contacted skin position, thereby being convenient to use. The ultrasonic probe is not in direct contact with the skin of a patient, can be kept clean, and is beneficial to prolonging the service life of the ultrasonic probe.
6. Error compensation of the ultrasonic probe view angle and the needle view angle.
Drawings
Fig. 1 is a flowchart of an automatic venous and arterial puncture control method according to the invention.
Fig. 2 is a schematic diagram of a YOLOv network structure according to the present invention.
Fig. 3 is a schematic diagram of a YOLOv network structure according to the present invention.
FIG. 4 is a schematic diagram of a NanoDet-plus network according to the present invention.
Fig. 5 is a schematic diagram of veins and arteries in the artificial labeling diagram according to the present invention.
Fig. 6 is a schematic diagram of the positioning and classifying process of venous and arterial blood vessels according to the invention.
Fig. 7 is a schematic diagram showing the classification results of venous and arterial blood vessels according to the invention.
Fig. 8 is a schematic view of the venous vessel localization according to the present invention.
Fig. 9 is a schematic view of a noble vein according to the present invention.
Fig. 10 is a diagram of the great saphenous vein and the small saphenous vein of the present invention.
Fig. 11 is a schematic structural diagram of an ultrasonic coupling sleeve according to the present invention.
Fig. 12 is a schematic structural diagram of an embodiment of an electronic device according to the present invention.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, in one aspect, the present invention provides an automatic venous and arterial puncture control method for realizing high-precision puncture by precise control, including:
s1, acquiring a blood vessel ultrasonic image after determining to start automatic venous and arterial puncture control;
As a preferred embodiment, the step S1 comprises the step of acquiring a plurality of vascular ultrasonic images of a body part possibly subjected to puncture, such as the back of the hand, the forearm and the like, wherein the acquisition is performed on the basis of a plurality of persons and a plurality of adjustments.
S2, establishing an arteriovenous vessel detection model based on a lightweight depth network and a target detection algorithm aiming at the target vessel ultrasonic image data, wherein the vessel detection model is used for detecting and positioning a vessel;
In this embodiment, in order to realize deployment of the portable device, ensure puncture efficiency, and detect and locate a blood vessel by adopting a lightweight depth network. For example YOLOv, nanoDet or NanoDe-plus etc. are used, wherein a lightweight depth network is the basis of the arteriovenous vessel detection positioning algorithm.
(1) Fig. 2 is a schematic diagram of YOLOv network structure adopted in the present embodiment.
YOLOv8 is improved and upgraded on the basis of the first 7 versions of the YOLO detection algorithm, and the main improvement comprises that a backup uses a C2f module, a detection head uses an anchor-free+ Decoup led-head, a loss function uses a combination of classification BCELoss, regression CIoU and VFL, a frame matching strategy is changed from a static matching mode to a Task-AL IGNEDASS IGNER matching mode, and the last 10 epochs close the operation of mosaics.
(2) Fig. 3 is a schematic diagram of a NanoDet network structure adopted in the present embodiment.
NanoDet is a single-stage anchor-free object detection model of FCOS that uses ats for object sampling and performs classification and frame regression using Genera l izedFoca l Loss loss function (boxregress ion). A schematic diagram of the network structure is shown in fig. 3. NanoDet use Genera l izedFoca l Loss loss function. The function can remove CENTERNESS branches of the FCOS, and a large amount of convolution on the branches is omitted, so that the calculation cost of a detection head is reduced, and the function is very suitable for lightweight deployment of a mobile terminal.
(3) FIG. 4 is a schematic diagram of NanoDet-plus network architecture used in this example.
A simpler and lighter training aid module Ass ignGu idanceModu le (AGM) is designed in NanoDet-plus detection model and matched with dynamic soft label distribution strategy
DynamicSoftLabe LASS IGNER (DSLA) to solve the optimal tag matching problem in lightweight models. The overall architecture of NanoDet-plus is shown in figure 4. The method improves the Ghost-PAN, improves the convolution kernel size and the downsampling layer of the detection head in feature fusion, and modifies the training optimization strategy.
As a preferred embodiment, the S2 includes:
s21, a basic blood vessel detection model is established, and the acquired blood vessel positions in the blood vessel ultrasonic image are manually marked to obtain an image after manual marking;
in this embodiment, the vein and artery vessels in the drawing are manually marked as shown in fig. 5. It can be seen that in a single static short axis B-ultrasound image frame, the distinction between venous and arterial vessels is difficult.
S22, performing model training on the basic blood vessel detection model based on the image after manual labeling to obtain a trained blood vessel detection model.
S3, acquiring a blood vessel image to be detected and positioned in real time, and obtaining the position and the category of the blood vessel based on the trained blood vessel detection model.
As a preferred embodiment, the S3 includes:
S31, acquiring a blood vessel image to be detected and positioned in real time through an ultrasonic instrument, and inputting the blood vessel image to be detected and positioned into the trained blood vessel detection model to obtain all blood vessels in the image as a first detection result;
S32, fusing the first detection result with a vein artery blood vessel classification method of color ultrasound to obtain high-precision blood vessel positioning and classification, wherein the high-precision blood vessel positioning and classification is used for subsequent target blood vessel selection and puncture calculation.
In this embodiment, in practical application, the S32 may be further combined with an operator' S push-type venous vessel confirmation, so as to further ensure operation safety. The flow of this part is designed as follows.
As shown in fig. 6, as a preferred embodiment, the S32 includes:
(1) And selecting a detection target area based on the first detection result, namely selecting the position where a blood vessel possibly exists in the B ultrasonic image according to the puncture target, and cutting out part of the whole image to be used as the detection target area. The method has the advantages of reducing false detection and reducing post-processing complexity;
(2) The blood vessel positioning and rough classification method based on the deep learning is used for positioning and rough classification of the blood vessel for the first detection result in the detection target area, and comprises the steps that the positioning detection result obtained by the blood vessel positioning method based on the deep learning is a circumscribed rectangle or square of the blood vessel, the classification of veins and arteries is a rough classification result, and the accurate positioning of the blood vessel edge is not achieved. The classification result is used as reference information, and further vascular edge fitting is carried out in a detection frame;
(3) In this embodiment, as shown in fig. 6 below, different regions generally present irregular edges, and besides real blood vessels, some non-blood vessel regions are detected, and real blood vessels and arterial blood vessels can be screened out by combining the result of deep learning blood vessel positioning, as shown in fig. 7.
(4) Static artery classification and vascular edge fitting, comprising:
A. determining the blood vessel type based on the consistency of the rough classification of the vein or the artery and the high-precision vein and artery classification based on the color Doppler effect or the spectrum Doppler method, and prompting further confirmation when the inconsistency of the high-precision vein and artery classification based on the color Doppler effect or the spectrum Doppler method and the low-precision vein and artery classification based on the color Doppler effect or the spectrum Doppler method are adopted directly;
B. And after the blood vessel detection result is determined and accurate vein artery classification is obtained, performing high-precision blood vessel edge fitting. Taking fig. 8 as an example, in the detected rectangular region of the blood vessel, binarizing and fusing the ultrasonic image and the colored image respectively, and then detecting a Hough transformation circle or ellipse to obtain a high-precision circle or ellipse fitting result of the edge of the blood vessel. The Hough transformation circle or ellipse detection method is mature, and the common method is adopted. The fitting result is used in the subsequent step.
The method for binarizing and fusing the ultrasonic image and the colored image is that the ultrasonic image and the colored image are changed into consistent binarization or gray level images, the blood vessel area 0 is represented, and the other areas 1 are represented. The two figures add up, making the vascular area more visible.
The hough transform is a method for detecting a specific shape in an image, which can detect various geometric shapes such as straight lines, circles, ellipses, and the like. The principle is based on the mapping relationship between the image space and the parameter space. For hough circle or ellipse detection, the principle can be generalized to the following steps:
Edge detection-the image needs to be edge detected in order to determine all potential circular or elliptical shaped edge points in the image.
Parameter mapping-mapping edge points in the image space to the parameter space. For a circle, this means that each edge point is mapped to a point (x, y, r) in a three-dimensional space, where (x, y) is the coordinates of the edge point and r is the radius from the center of the image to the point. For ellipses, the parameter space is more complex because additional parameters such as the length of the major and minor axes and the rotation angle of the ellipse need to be considered.
Voting mechanism-in the parameter space, for each possible center position, a gradient vector of all edge points to the center is calculated, and the intersection point of these vectors is the potential center position. For ellipses, this process is more complex because more parameters need to be considered to determine the specific location and shape of the ellipse.
Peak detection-finding the point in parameter space with the most votes, which corresponds to the center of the most likely circular or elliptical shape in the image.
Shape verification-finally, verifying whether the detected shape conforms to the expected circular or elliptical characteristics by examining the peaks in the parameter space.
As a preferred embodiment, the prompting further comprises:
The human-computer mutual pressing type vein blood vessel confirmation comprises prompting to perform manual pressing confirmation when the type of the blood vessel cannot be judged automatically with high precision, judging that the blood vessel is an artery if a proper pressing probe observes an image and does not change along with the pressing force, judging that the blood vessel is a vein if the blood vessel is closed gradually along with the increasing of the pressing force, and determining the target blood vessel by manually clicking a screen, namely inputting system vein and artery information.
After the above steps are completed, the detailed information of the blood vessel in the ultrasonic image of the current position can be obtained, and the process goes to step S4.
S4, confirming a target blood vessel position based on the blood vessel positioning and classification, wherein the target blood vessel position is a puncture target position;
In this embodiment, a plurality of different types of blood vessels may be detected in the image. It is necessary to first determine the target vessel range and then make a target vessel selection.
As a preferred embodiment, the S4 includes:
s41, selecting an arteriovenous target according to the working state:
in this embodiment:
(1) If the current mode of operation is venipuncture, the available vein vessel (circle with the largest radius shown in the image) with the appropriate distance from the skin is selected as the target vessel, and if there are a plurality of available vessels, a candidate set is formed. Where proper distance from the skin is required primarily for the choice of vessel type based on the task of lancing, the currently common venipuncture is primarily performed for the most important veins, as shown in fig. 9. The great saphenous vein or the small saphenous vein, which is particularly close to the skin, is not typically penetrated, as shown in fig. 10. Wherein the left side of fig. 10 is the large saphenous vein map and the right side is the small saphenous vein map.
Because the distribution positions of the great saphenous vein and the great saphenous vein on the B ultrasonic image have larger difference, a simple threshold range can be adopted, for example, the coordinate on the image is larger than a threshold (the threshold is related to the puncture part, the characteristic and the parameter adjustment of the color ultrasonic equipment and is preset after the equipment and the part are determined), and the great saphenous vein and the small saphenous vein can be eliminated.
(2) If the current mode of operation is arterial puncture, the arterial vessel closest to the skin (the image is shown as the arterial vessel target closest to the top) is selected as the target vessel, and if there are multiple vessels available, a candidate set is formed.
S42, selecting the optimal target blood vessel according to the position and the correlation of the blood vessel in the graph.
Vein target vessel preference, generally selecting the coarsest vessel for puncturing, no other vessels between the punctured vessel and the skin, and no overlapping of vessels. These preferential strategies can be accomplished by geometric calculation comparisons.
Arterial target vessel preference, that is, the vessel is as close to the skin as possible when the thickness meets the requirement, no other vessels exist between the punctured vessel and the skin, and no overlapping of vessels exists.
S5, performing puncture path planning based on the target blood vessel position, wherein the puncture path planning comprises venipuncture path planning and arterial puncture path planning.
In this embodiment, the steel needle is a rigid object, which is planned as a line. The targets to be planned for the needle path planning include the skin penetration location, the steel needle to skin angle and the penetration length (determining the depth of penetration).
As a preferred embodiment, the venipuncture path planning includes:
(1) Connecting the center of the target blood vessel with the needle direction selection center, and judging whether other vein blood vessels exist in the connecting path;
(2) If no other vein is available, the planning is successful, and the angle between the steel needle and the skin and the penetration length are calculated;
(3) If other vein blood vessels exist, judging whether the vein blood vessels in the path are other vein blood vessels meeting the puncture requirement (the two necessary points of the puncture requirement are the vein blood vessels and the blood vessel thickness meet the puncture requirement), replacing the other vein blood vessels meeting the puncture requirement with target blood vessels, planning the puncture path again, and if the puncture requirement is not met, returning to select the other vein blood vessels meeting the puncture requirement as the target blood vessels.
(4) Under the condition that all other vein blood vessels can not meet the puncture requirement, the prompting position is unsuitable, and an operator is required to adjust.
As a preferred embodiment, the arterial puncture path is planned such that, due to the deeper arterial location, there are often venous vessels between the arterial puncture path and the skin, which must be avoided during the puncture by the puncture needle. Generally, the penetration process minimizes the length of the needle that is passed through the body. The present embodiment thus designs a planning strategy for searching for a feasible path from the vertical direction to the two-test:
(1) Connecting the center of the target blood vessel with the needle direction selection center, and judging whether other vein or artery blood vessels exist in the connecting path.
(2) If no other vein or artery blood vessel exists, the planning is successful, and the angle between the steel needle and the skin and the penetration length are calculated;
(3) If there are other vein or artery blood vessels, the user needs to prompt that the puncture can not be safely performed and needs to readjust the fixed position of the needle, if the needle is provided with a transverse movement control mechanism, the user can transversely adjust the position of the needle according to a fixed step length to search, and if the needle is not provided with the transverse movement control mechanism, the prompt position is unsuitable and the user needs to adjust.
S6, converting the path and the control parameters based on the puncture path planning.
As a preferred embodiment, the step S6 includes:
S61, after the puncture path is successfully planned, the control device combines the current angle and the needle point position information of the puncture needle body to be punctured with the planned puncture path to form displacement vector information, wherein the displacement vector information comprises axial displacement and angular displacement;
s62, the control device converts the displacement vector information into a control signal and transmits the control signal to the driving device;
S63, the driving device receives the displacement vector information, outputs an electric signal and controls the motor of the automatic venous artery puncture device to move for puncture.
A second aspect of the present invention provides an automatic venous artery puncture device for performing automatic venous artery puncture based on the control method of the first aspect, comprising a fixing device, a guiding device and a driving device, wherein the fixing device is slidingly connected with the guiding device, and the fixing device is fixedly connected with the driving device, and wherein:
The fixing device is used for fixing a needle body to be punctured and a hose to be placed in, and the hose to be placed in is fixed on the fixing device through the needle body to be punctured;
The guiding device is used for determining the position of a target blood vessel, namely the puncture target position;
The driving device is used for driving the fixing device to move along the direction guided by the guiding device.
Fixing device
The fixing device comprises a needle cylinder, an inner cylinder, an outer cylinder, a first connecting piece, a fixing plate, a needle clamp and a needle withdrawing button.
The structure description comprises that a hose to be placed is fixedly arranged on a needle cylinder through a needle body to be punctured, the needle cylinder is arranged in an inner cylinder and is fixedly connected with the inner cylinder, the inner cylinder is arranged in the outer cylinder through a first connecting piece and can be connected with the inner cylinder in a sliding mode, the outer cylinder is fixedly arranged on a fixing plate through the first connecting piece, the needle clamp is matched with a needle withdrawing button and used for triggering the needle withdrawing button under the action of external force so as to separate the needle body to be punctured and the hose to be placed from the fixing device, after the needle body to be punctured is fixed on the fixing device, the relative space position between the initial position of the needle body to be punctured and the ultrasonic probe is determined, the relative space position of the needle body to be punctured and the ultrasonic probe is not changed, the fixing device is calibrated and then used for controlling an algorithm, and puncture control based on ultrasonic image positioning can be achieved.
(II) guide device
The guiding device comprises three parts, namely an ultrasonic probe, a needle body guiding piece and an outer cylinder guiding piece, and is used for guiding the fixing device and the needle body to be punctured to move in a fixed direction based on ultrasonic positioning of the blood vessel position.
1. The ultrasonic probe is used for collecting data information of the preselected target blood vessel through ultrasonic waves and sending the data information to the control device.
2. The needle body guide piece is fixedly arranged on the ultrasonic probe, and the to-be-punctured needle body is erected on the needle body guide piece.
3. The outer cylinder guide piece is fixedly arranged on the fixing plate, and the outer cylinder is erected on the outer cylinder guide piece.
As a preferred embodiment, the ultrasonic probe is matched with the ultrasonic coupling sleeve, and the ultrasonic coupling sleeve is arranged at the front end of the ultrasonic probe in a detachable and easily detachable manner. The ultrasonic coupling sleeve structure is shown in fig. 11, and is mainly used for guaranteeing sterility of arteries.
(III) drive device
The driving device is connected with the control device and used for driving the fixing device to move along the direction guided by the guiding device, and the driving device is divided into a needle control part driving device and a tube placing part driving device.
1. The needle control part driving device comprises a needle control motor and a second connecting piece, wherein the needle control motor is fixedly arranged on the fixing plate and is fixedly connected with the inner cylinder through the second connecting piece.
2. The tube placing part driving device comprises a tube placing motor, a third connecting piece, an outer cylinder connecting rod and a motor connecting rod, wherein the tube placing motor is fixedly arranged on the fixing plate through the motor connecting rod, the tube placing motor is fixedly connected with the third connecting piece, and the third connecting piece is connected with the outer cylinder through the outer cylinder connecting rod.
A third aspect of the present invention is to provide a venous arterial puncture system, completed by the cooperation of a control device and the automatic venous arterial puncture device according to the second aspect, the automatic venous arterial puncture device being connected to the control device, wherein:
The automatic venous artery puncture device acquires data information of a preselected target blood vessel through an ultrasonic probe and sends the data information of the preselected target blood vessel to the control device;
The control device is used for receiving the data information of the preselected target blood vessel, calculating the position information of the target blood vessel according to the data information, generating a control signal for controlling the automatic venous artery puncture device to work according to the position information, and controlling the automatic venous artery puncture device to puncture the skin by the needle body to be punctured and the hose to be placed which are fixed by the automatic venous artery puncture device according to the control signal.
The control device is used for accurately controlling the movement step length of the needle control motor and the tube motor, converting blood vessel information acquired by the ultrasonic probe into position information of a target blood vessel and a puncture path based on algorithm identification and optimization, comparing current coordinate information of a puncture point and a needle body to be punctured by the control device, calculating a displacement vector, and transmitting the displacement vector to the drive device in a control signal mode, wherein the drive device receives the control signal and moves to the puncture point according to the control signal.
As an optimal implementation mode, the venous arterial puncture system further comprises a portable industrial personal computer or an integrated machine, wherein the portable industrial personal computer or the integrated machine and the B ultrasonic machine are put together to achieve portability, and AI in the portable industrial personal computer is used for calculating the computing resources of the board card/pad.
The invention also provides a memory storing a plurality of instructions for implementing the method according to the first embodiment.
As shown in fig. 12, the present invention further provides an electronic device, including a processor 301 and a memory 302 connected to the processor 301, where the memory 302 stores a plurality of instructions, and the instructions may be loaded and executed by the processor, so that the processor can execute the method according to the first embodiment.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
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Cited By (1)
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