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Ultrasound image-guided operation trajectory planning method for venipuncture robot

A venipuncture and ultrasound image technology, applied in the field of venipuncture robot operation, achieves the effects of noise insensitivity, fast speed and guaranteed safety

Active Publication Date: 2022-02-18
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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  • Ultrasound image-guided operation trajectory planning method for venipuncture robot
  • Ultrasound image-guided operation trajectory planning method for venipuncture robot
  • Ultrasound image-guided operation trajectory planning method for venipuncture robot

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Embodiment 1

[0046] Such as figure 1 As shown, this embodiment provides a puncture trajectory planning method for a venipuncture robot based on ultrasound image guidance, which is oriented to an automatic venipuncture robot and helps the robot to delineate the puncture trajectory, so that the robotic arm operates the puncture needle according to the predetermined trajectory to realize automatic puncture. The puncture robot controls the puncture piece to puncture blood vessels.

[0047] The method uses the U-Net network framework to segment blood vessels in ultrasound images; then delineates the boundaries of the puncture trajectory and blood vessels according to the segmentation results; then matches the boundaries to judge the feasibility of puncture; Specifically include the following steps:

[0048] Blood vessel segmentation step S1: Acquire a blood vessel ultrasound image of a certain part of the object to be punctured, and obtain a blood vessel segmentation map from the blood vessel ...

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Abstract

The invention relates to a puncture track planning method for a venipuncture robot based on ultrasound image guidance. The venipuncture robot controls a puncture part to perform blood vessel puncture. The method includes the following steps: 1) Obtain an ultrasound image of a blood vessel at a certain part of an object to be punctured, and obtain therefrom Blood vessel segmentation map; 2) According to the first puncture track of the puncture member in the blood vessel set in advance, delineate the puncture track limit; 3) From the blood vessel segmentation map, divide the safe area to obtain the blood vessel limit; 4) Draw the puncture track limit Matching with the blood vessel boundary, if the blood vessel boundary completely includes the puncture trajectory boundary, then generate a second puncture trajectory according to the matching position and the first puncture trajectory; otherwise, replace the part of the object to be punctured, and execute the method again. Compared with the prior art, the present invention has planned the trajectory, can realize automatic puncture, has a high degree of automation, and ensures the safety of the puncture trajectory.

Description

technical field [0001] The invention relates to the field of venipuncture robot operation, in particular to a method for planning an operation trajectory of a venipuncture robot based on ultrasonic image guidance. Background technique [0002] The existing ultrasound-assisted upper extremity venipuncture process is as follows: ultrasonic detection of veins, puncture, real-time observation of the puncture needle trajectory, and completion of puncture, which are basically completed manually by medical staff with the assistance of ultrasound equipment, and most of the related inventions are ultrasound-guided veins. Puncture, low degree of automation. [0003] Patent CN111339828A discloses a vein imaging recognition method based on the combination of infrared images and Doppler ultrasound, which includes: acquiring vein images of the parts of the patient to be identified, and preprocessing the vein images. This method helps medical staff to better identify veins through vein im...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B17/34A61B34/10A61B34/20A61B34/30G06T7/11G06T7/62
CPCA61B17/3403A61B34/10A61B34/20A61B34/30G06T7/11G06T7/62A61B2034/2063A61B2034/2065A61B2034/107A61B2034/108A61B2017/3413G06T2207/10132G06T2207/30101G06T2207/20104
Inventor 齐鹏陈禹
Owner TONGJI UNIV