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A method and device for processing venous blood collection data, and an intelligent blood collection robot

A technology of data processing and venous blood vessels, applied in the directions of ultrasound/sound wave/infrasonic image/data processing, sensors, manipulators, etc., can solve problems such as heavy workload, increased patient pain, hidden health and safety hazards, etc., to ensure effectiveness, The effect of improving recognition accuracy

Active Publication Date: 2021-10-29
哈工大机器人(中山)无人装备与人工智能研究院
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When nurses use the existing artificial venous blood collection method to collect blood, there are problems such as heavy workload, complicated procedures, and difficult to find blood vessels, which not only brings a lot of inconvenience to the nurse's work, but also increases the pain of the patient.
Moreover, in the process of blood collection, medical staff and patients cannot avoid contact and exposure, and there is a risk of bacterial infection, which brings health and safety hazards.
Although some research and development teams are designing robots that are specially used to replace nurses in giving injections and blood collection to patients, so as to free nurses from high-frequency, difficult, and high-risk work, the existing medical blood collection robots still need to continue to overcome the identification and positioning of blood collection points There are technical problems such as low success rate of blood collection

Method used

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  • A method and device for processing venous blood collection data, and an intelligent blood collection robot
  • A method and device for processing venous blood collection data, and an intelligent blood collection robot
  • A method and device for processing venous blood collection data, and an intelligent blood collection robot

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no. 1 example

[0083] See figure 1 , an embodiment of the present invention provides a method for processing venous blood collection data, comprising the following steps:

[0084] S1. Acquiring infrared images of veins and blood vessels of body parts where veins are located, processing the infrared images of veins and blood vessels and extracting blood vessel contour images;

[0085] S2, performing skeleton extraction on the blood vessel outline image to obtain multiple blood vessel radii, and determining the point of the venous vessel where one of the multiple blood vessel radii is selected based on the maximum radius as the first blood sampling puncture point;

[0086] In one of the embodiments of the present invention, step S2 is to extract the skeleton of the blood vessel contour image to obtain multiple blood vessel radii, and determine the point of the venous vessel where one of the multiple blood vessel radii is located based on the maximum radius It is the first blood collection pun...

no. 2 example

[0110] The second embodiment of the present invention provides a venous blood collection data processing device, including a host computer, and the host computer is used for:

[0111] Obtain the infrared image of the veins and blood vessels of the body parts where the veins are located, process the infrared images of the veins and blood vessels and extract the outline image of the blood vessels;

[0112] Extracting the skeleton of the blood vessel contour image to obtain multiple blood vessel radii, and determining the point of the venous vessel where one of the multiple blood vessel radii is selected based on the maximum radius as the first blood sampling puncture point;

[0113] Based on the obtained multiple sets of skin height laser scanning data of the body part where the first blood collection puncture point is located, the contour curve equation of the skin where the vein is located is fitted by the least square method, and the first blood collection puncture is calculat...

no. 3 example

[0139] See Figure 2 to Figure 6 , the third embodiment of the present invention provides an intelligent blood collection robot, including:

[0140] A control device, a data acquisition device, a blood collection execution device, and the above-mentioned venous blood collection data processing device, the venous blood collection data processing device mainly includes a host computer;

[0141] The data acquisition device includes an infrared camera, a laser ranging sensor, and an ultrasonic probe, which are used to send the collected infrared images of veins and blood vessels, multiple sets of skin height laser scanning data, and subcutaneous blood vessel depth ultrasonic images to the venous blood collection data processing device;

[0142] The venous blood collection data processing device is used to send the first blood collection puncture point, the skin tangential direction of the first blood collection puncture point, and the puncture depth of the blood collection needle ...

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Abstract

The invention discloses a method and device for processing venous blood collection data, and an intelligent blood collection robot. The method includes acquiring infrared images of venous blood vessels, processing and extracting blood vessel contour images; performing skeleton extraction to obtain multiple blood vessel radii, and converting a point with the largest radius Determined as the first blood sampling puncture point; based on the obtained multiple sets of skin height laser scanning data of the body part where the first blood sampling puncture point is located, the contour curve equation of the skin where the vein is located is fitted by the least square method, and according to the contour The curve equation calculates the skin tangent direction of the first blood collection puncture point; obtains the subcutaneous blood vessel depth ultrasonic image, and combines the skin tangent direction and the blood vessel upper and lower wall contour images extracted from the subcutaneous blood vessel depth ultrasonic image to obtain the puncture depth of the blood collection needle. The venous blood collection data processing method provided by the embodiment of the present invention can improve the recognition accuracy of blood collection points, the effectiveness of blood collection needles, and improve the blood collection success rate of the blood collection robot.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a method and device for processing venous blood collection data and an intelligent blood collection robot. Background technique [0002] At present, most of the domestic medical environment has been automated, but the blood collection process still uses the method of manual blood collection by nurses. The number of nurses per thousand people in my country ranks sixth from the bottom in the world, and the shortage of nurses has become the norm in major hospitals. Especially in the outbreak of the epidemic, nurses and other medical staff are the group with the highest infection rate. When nurses use the existing artificial venous blood collection method to collect blood, there are problems such as heavy workload, complicated procedures, and difficult to find blood vessels, which not only brings a lot of inconvenience to the work of nurses, but also increases the suffering ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B5/153A61B8/08B25J11/00
CPCA61B5/0082A61B5/15003A61B5/150175A61B5/150748A61B5/153A61B5/489A61B8/085A61B8/5223B25J11/00
Inventor 王绍凯李想伍砺玕黄运黄新剑李建英
Owner 哈工大机器人(中山)无人装备与人工智能研究院