Venipuncture robot control method and device and computer readable storage medium

Abstract

The invention relates to a venipuncture robot control method and device and a computer readable storage medium. The venipuncture robot control method comprises the steps of respectively collecting anoriginal infrared image and an original visible light image of an arm; selecting a target blood vessel based on the original infrared image, and intercepting a part containing a target blood vessel area from the original infrared image as a target infrared image; intercepting a part in a corresponding range from the original visible light image according to the target infrared image to serve as atarget visible light image, preprocessing the target visible light image, and inputting the preprocessed target visible light image into a trained recognition model to obtain a recognition result, wherein the recognition result is that veins protrude out of the epidermis or the veins are hidden under the epidermis; and when the recognition result is that the veins protrude out of the epidermis, controlling a blood vessel fixing device of the robot to fix blood vessels. Compared with the prior art, the method has the advantages of improving the first success rate of automatic puncture and the like.

Description

technical field [0001] The present invention relates to a venipuncture robot control technology, in particular to a venipuncture robot control method, device and computer-readable storage medium. Background technique [0002] Venous puncture treatment is very common in human treatment at present, and the purpose of existing venipuncture robots is mostly to realize the full automation of venipuncture process. The working steps of the existing venipuncture robot are all venous blood vessel positioning, machine puncture, and the doctor determines the puncture track to complete the puncture. However, many problems still need to be considered when venipuncture. For example, some patients have loose skin due to age, and the reduction of fat layer leads to the venous blood vessels protruding from the skin surface before the tourniquet is used. The existing puncture technology is easy to cause The blood vessel slipped under the skin and the puncture was unsuccessful. In the curren...

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Problems solved by technology

[0003] Chinese patent CN109584210A discloses a multispectral three-dimensional vein imaging system, including recognition and segmentation of vein images, but this patent only reconstructs the three-dimensional model of the blood vessel, and fails to identify the relative position of the vein blood vessel and the epidermis, which cannot help puncture The robot judges whether to fix

[0004] Chinese patent CN102764109A discloses a vein viewing system, which utilizes the property that infrared light can be strongly absorbed by blood and scattered by other human tissues to locate the position of the vein, but the device only projects the vein onto the epidermis, not facing the puncture robot, and It cannot reflect the depth of the vein, nor can it help the puncture robot to judge whether to fix

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