Intravenous injection robot needle insertion angle control method based on ultrasonic evaluation
An angle control and robot technology, applied in the direction of hypodermic injection equipment, drug equipment, other medical equipment, etc., can solve the problems of judging the angle of needle insertion, damage to blood vessels of patients, etc., and achieves wide application range, strong robustness, and improved Stability and Security Effects
Active Publication Date: 2020-12-29
TONGJI UNIV
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Problems solved by technology
[0006] The purpose of the present invention is to provide a method for controlling the needle-entry angle of an intravenous injection robot based on ultrasound evaluation in order to overcome the defect in the above-mentioned prior art that the needle-entry angle is not judged according to the thickness of the patient's blood vessel, resulting in damage to the patient's blood vessel.
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[0037] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
[0038] A method for controlling the needle entry angle of an intravenous injection robot based on ultrasound evaluation, which prevents damage to blood vessels caused by unsuitable puncture angles, and improves the stability and safety of venipuncture, such as figure 2 As shown, the IV robot includes a robotic arm and an ultrasound imaging module, such as figure 1 As shown, the specific steps of the needle insertion angle control method are as follows:
[0039] S1. Obtain the original venous blood vessel samples of different thickness;
[0040] S2. Perform ultrasonic recognition on...
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The invention relates to an intravenous injection robot needle insertion angle control method based on ultrasonic evaluation. An intravenous injection robot comprises a mechanical arm and an ultrasonic imaging module. The control method comprises the following steps: S1, vein blood vessel samples are obtained; S2, ultrasonic recognition is carried out on the vein blood vessel samples to obtain characteristic pixel points; S3, whether the thickness of blood vessels is greater than a judgment threshold is judged, if yes, the blood vessels are set as thick blood vessels, otherwise, the blood vessels are set as thin blood vessels; S4, a blood vessel recognition model is generated through iterative learning of a deep convolutional neural network (DCNN); S5, the ultrasonic imaging module acquires blood vessel ultrasonic images, recognizes the thickness of the blood vessel and determines a needle insertion angle; and S6, the mechanical arm pierces the blood vessels of a patient with a needlehead according to the needle insertion angle, ultrasonic positioning and vein center tracking are conducted in real time, the thickness of remaining blood vessels is determined, and the needle head angle is adjusted in real time. Compared with the prior art, the control method has the advantages of preventing injury caused by improper puncture angle, improving the safety of venipuncture and the like.
Description
technical field [0001] The invention relates to a method for controlling a needle-introduction angle, in particular to a control method for an intravenous injection robot-introduction angle based on ultrasonic evaluation. Background technique [0002] Infusion or blood sampling through the venous blood stream is the most common clinical routine and is done by manual venipuncture techniques. The success rate of manual venipuncture technology depends on the skills of clinicians and the physiological functions of patients. For patients with difficulties, the failure rate is high, which is the main reason why venipuncture becomes a medical injury, and intravenous injection robots can reduce losses to a certain extent. incidence. In addition, for infectious diseases like new coronary pneumonia, intravenous injection robots can also prevent medical staff from direct contact with infectious patients, greatly reducing the risk of infection for medical staff during the treatment of ...
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Login to View More IPC IPC(8): A61M5/42
CPCA61M5/427A61M2205/70
Inventor 齐鹏田智宇
Owner TONGJI UNIV