Unlock instant, AI-driven research and patent intelligence for your innovation.

Fully automatic venipuncture robot multi-layer control system

A venipuncture and multi-layer control technology, applied in surgical robots, sensors, surgical manipulators, etc., can solve problems such as patient discomfort, and achieve the effect of fast imaging speed and clear images

Active Publication Date: 2021-11-19
HARBIN INST OF TECH
View PDF8 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the problem that in the control of the existing fully automatic venipuncture robot, the autonomous decision-making of the action during the puncture process cannot be realized, which will cause discomfort to the patient, the present invention provides a multi-layer control system for a fully automatic venipuncture robot

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Fully automatic venipuncture robot multi-layer control system

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0027] Specific implementation mode 1. Combination figure 1 As shown, the present invention provides a kind of fully automatic venipuncture robot multilayer control system, comprising:

[0028] Two near-infrared cameras are used to obtain binocular camera images of the arm to be punctured based on the principle of parallax;

[0029] The host computer performs stereo correction and stereo matching on the binocular camera image to obtain the blood vessel depth of the arm to be punctured; maps based on the blood vessel depth to obtain a blood vessel point cloud image; then extracts the blood vessel centerline from the blood vessel point cloud image to determine the final puncture decision ;

[0030] The multi-axis motion control card obtains the trajectory planning result according to the final puncture decision, distributes the motion amount to each axis of the terminal multi-axis motion, and sends a motion command to the driver corresponding to each axis, so that the driver dr...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

A fully automatic venipuncture robot multilayer control system belongs to the technical field of robot control. The present invention aims at the problem that in the control of the existing fully automatic venipuncture robot, the autonomous decision-making of the action during the puncture process cannot be realized, which will cause discomfort to the patient. Divided into perception and decision-making layer, control layer and execution layer, the infrared camera is used to obtain the binocular camera image of the arm to be punctured; the host computer processes the image to determine the final puncture decision; the multi-axis motion control card obtains the trajectory planning result according to the final puncture decision , distribute the movement amount to each axis of multi-axis movement at the end, and drive the DC servo motor to drive the end effector of the robot through the driver; the multi-dimensional force sensor collects the puncture force signal of the end effector to the host computer to adjust the puncture decision; the encoder will The current position of the motor is fed back to the multi-axis motion control card to adjust the trajectory planning results in real time. The invention can realize the multi-layer control of the automatic venipuncture robot.

Description

technical field [0001] The invention relates to a multi-layer control system for a fully automatic venipuncture robot, belonging to the technical field of robot control. Background technique [0002] At present, the clinical implementation of venipuncture mainly relies on skilled medical personnel to operate, and these medical personnel need to undergo special training. The operation process includes: tie a tourniquet on the patient's arm, then ask the patient to make a fist to make the vein protrude, and finally perform venipuncture. Manual venipuncture requires high experience and proficiency of medical staff. Even experienced medical staff, when faced with patients with dark skin, deep veins, covering injuries, tattoos and hair, especially infants, the elderly, obese and dehydrated patients, it is necessary to achieve accurate venipuncture The process is still very difficult. [0003] With advances in computer vision and robotics, the need for fully automated venipunct...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30A61B34/10A61M5/42A61B5/00
CPCA61B5/0082A61B5/4824A61B5/489A61M5/427A61B34/10A61B34/30A61B34/76A61B2034/105A61B2034/107A61B2034/108
Inventor 姜力任浩郭闯强何天宝董杰
Owner HARBIN INST OF TECH
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com