Vein puncture robot operation trajectory planning method based on ultrasonic image guidance

Abstract

The invention relates to a vein puncture robot operation trajectory planning method based on ultrasonic image guidance. The vein puncture robot operation trajectory planning method based on the ultrasonic image guidance is characterized by performing vein puncture through a puncture piece controlled by the vein puncture robot, and comprises the following steps: 1) acquiring a blood vessel ultrasonic image of a certain part of a subject to be punctured, and acquiring a blood vessel segmentation map from the blood vessel ultrasonic image; 2) defining bounds of a puncture trajectory according toa preset first puncture trajectory of the puncture piece in the blood vessel; 3) dividing a safe area from the blood vessel segmentation map to obtain boundaries of the blood vessel; 4) matching the bounds of the puncture trajectory with the boundaries of the blood vessel, and generating a second puncture trajectory on basis of matched positions and the first puncture trajectory if the bounds of the puncture trajectory are completely covered by the boundaries of the blood vessel, or changing the part of the subject to be punctured and performing the above steps again. Compared with the prior art, the vein puncture robot operation trajectory planning method based on the ultrasonic image guidance includes trajectory planning so that automatic puncture can be achieved, thereby realizing highdegree of automation and guaranteeing safety of the puncture trajectory.

Description

Technical field [0001] The present invention relates to the field of operation of the robot venipuncture, and more particularly to an ultrasound image based on the guided venipuncture trajectory planning robot operating method. Background technique [0002] Auxiliary flow path prior ultrasonic upper venipuncture technique as follows: Ultrasound vein puncture, the puncture needle trajectory observed in real time, the completion of the puncture, essentially manually by the medical personnel with the aid of ultrasound equipment, are mostly related to the invention the guide vein ultrasound puncture, low degree of automation. [0003] Patent CN111339828A discloses a vein in the infrared image recognition method based on Doppler ultrasound and binding, comprising: acquiring patient images be intravenous recognition site, and the venous image preprocessing. The method developed by vein to help medical staff better identify vein, but not as well as venous puncture needle trajectory plan...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a venipuncture robot operation trajectory planning method based on ultrasound image guidance in order to overcome the defect that the venipuncture robot does not involve puncture trajectory planning in the prior art

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