Ultrasonic-image-based puncture needle tip and vascular wall depth localization method

Abstract

The invention discloses an ultrasonic-image-based puncture needle tip and vascular wall depth localization method and belongs to the technical field of intelligent medical appliances. The method comprises the specific steps: selecting an upside zone of a subcutaneous ultrasonic image of a blood vessel of a venous puncture region as a zone of interest, carrying out de-noising, adaptive threshold binarization, image morphology open operation, closed operation, vascular wall contour extracting and blood-vessel-chamber-inside-zone puncture needle contour scanned extracting, and carrying out calculating, so as to obtain subcutaneous depth of a vascular wall and depth and puncture angle of a medical puncture needle. According to the method, the subcutaneous depth of the vascular wall can be effectively identified and detected, the depth and puncture angle of a tip of the puncture needle can be effectively tracked and detected, an advancement distance of the puncture needle is computed according to actual depth and needle puncture angle of the tip of the puncture needle, and the accuracy, safety and reliability of venous puncture can be improved by applying the method to the fields of intelligent blood sampling or transfusion robots, intelligent surgical robots and the like.

Description

technical field [0001] The invention belongs to the technical field of intelligent medical devices, and in particular relates to a method for locating the needle point of a puncture needle and the depth of a blood vessel wall based on an ultrasonic image. Background technique [0002] With the continuous development of medical technology, at present, some domestic institutions are developing smart medical equipment to replace medical staff to complete intravenous infusion, blood collection and other work. In the actual venipuncture process, it has always been a difficult problem to detect and observe the real-time position and posture of the puncture needle in the subcutaneous blood vessel. [0003] The existing automatic identification technology is difficult to accurately obtain the subcutaneous depth information of the blood vessel wall to be venipuncture, and cannot accurately give the current depth position of the puncture needle tip in the blood vessel lumen, the punct...

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Problems solved by technology

[0003] The existing automatic identification technology is difficult to accurately obtain the subcutaneous depth information of the blood vessel wall to be venipuncture, and cannot accurately give the current depth position of the puncture needle tip in the blood vessel lumen, the puncture angle of the puncture needle and the puncture of the puncture needle that medical staff are concerned about in venipuncture. Key information such as distance

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