Puncture robot respiration following method

Abstract

The invention provides a puncture robot respiration following method, and relates to the technical field of medical treatment. The puncture robot respiration following method comprises the following specific contents that: 1, in the premise of assuming that a relative position of a human body is unchanged, coordinates of one point in the surfaces of an abdominal cavity and a thoracic cavity of thehuman body can be changed in a three-dimensional space according to different respiration depths of the human body; and 2, assuming that one point on the surface of the human body is delta and meanwhile, the point is positioned in a certain three-dimensional coordinate system, according to different respiration depths and respiration frequencies of people, a law variation which is the same with respiration occurs. According to the invention, a puncture success rate is improved, wound times for a patient in one-time treatment are reduced, a probability of deviation of a heading direction of apuncture needle in the body of the patient is reduced, and the deviation caused by human factors is avoided; and the puncture robot respiration following method can be adapted to various age groups and different skin characteristics, accurate puncture is carried out, and the needle inserting direction is guaranteed not to be offset due to the skin characteristics and muscle resistance in the initial skin piercing stage of puncture.

Description

technical field [0001] The invention relates to the field of medical technology, in particular to a breathing-following method for a puncture robot. Background technique [0002] Puncture is a term used in medical operations. It is a diagnosis and treatment technique in which a puncture needle is inserted into the body cavity to extract secretions for testing, injecting gas or contrast agent into the body cavity for contrast examination, or injecting drugs into the body cavity. The purpose of puncture is to draw blood for testing , Blood transfusion, infusion and catheterization for angiography. [0003] At present, through many years of medical practice, in a large number of clinical treatment processes, through summarizing experience, it is found that in the treatment process of the treatment method, in the puncture process, the requirements for the puncture implementer are relatively high, and it is difficult to be able to puncture at one time. In place, it brings a lot ...

AI Technical Summary

Problems solved by technology

[0003] At present, through years of medical practice and a large number of clinical treatments, through summarizing experience, it is found that in the treatment process of the treatment method, in the puncture process, the requirements for the puncture implementer are relatively high, and it is difficult to be able to puncture at one time. In place, it brings a lot of discomfort to the patient during the treatment process, and because of the lack of experience of the medical staff, it often causes multiple traumas to the patient