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Venous bifurcation avoidance method and venous puncture robot

A venous bifurcation and venipuncture technology, applied in the field of image recognition, can solve the problems of increased risk of puncture failure, not considering the structure of venous bifurcation, achieve accurate results of venous bifurcation detection and avoidance, and improve cognition and decision-making ability. , fast effect

Active Publication Date: 2021-01-15
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The system does not take into account the vein bifurcation structure when making puncture decisions, and the system may choose the best puncture location near the vein bifurcation, resulting in an increased risk of puncture failure

Method used

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  • Venous bifurcation avoidance method and venous puncture robot
  • Venous bifurcation avoidance method and venous puncture robot
  • Venous bifurcation avoidance method and venous puncture robot

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Experimental program
Comparison scheme
Effect test

Embodiment

[0044] This embodiment provides a method for avoiding venous bifurcations, the method comprising:

[0045] Step S1: Obtaining vein images, the vein images are visible light images or infrared images, the visible light images are acquired by a camera, and the infrared images are acquired by an infrared camera.

[0046] Step S2: Obtain the vein bifurcation position in the vein image through deep reinforcement learning, and the expression of deep reinforcement learning is:

[0047] Q new (S t , A t )←Q old (S t , A t )+α·[Q target (S t , A t )-Q old (S t , A t )]

[0048] Q target (S t , A t ) = R t+1 +γ·max A Q(S t+1 , A)

[0049] Among them, Q is the state-action value function of the vein, α is the learning rate, γ is the attenuation factor, S t is the current state, A t is the action selected according to the behavior strategy, A is the action with the largest Q value selected by the greedy strategy, R t+1 To perform action A t The final reward, the siz...

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Abstract

The invention relates to a venous bifurcation avoidance method and a venous puncture robot. The method comprises the following steps: S1, acquiring a venous image; S2, obtaining a venous bifurcation position in the venous image through deep reinforcement learning; and S3, judging whether the action point is located in the influence range of the venous bifurcation or not, if the action point is located in the influence range of the venous bifurcation, replacing the action point position, and if the action point is not located in the influence range of the venous bifurcation, completing venous bifurcation avoidance. The venous puncture robot comprises a venous bifurcation avoidance module, and the venous bifurcation avoidance module executes the venous bifurcation avoidance method. Comparedwith the prior art, the venous bifurcation avoidance method and the venous puncture robot have the advantage that the venous bifurcation detection and avoidance result is more accurate.

Description

technical field [0001] The invention relates to the field of image recognition, in particular to a vein bifurcation avoidance method and a venipuncture robot. Background technique [0002] Pricking a needle at a vein bifurcation can easily lead to problems such as puncturing blood vessels, so it is necessary to avoid this structure in general venipuncture operations. [0003] Patent CN210095745U discloses an automatic needle pricking device, including: a bracket, at least one pressurizing device, a scanning device, a clamping module, an automatic needle ejecting device, a control driving module and a human-computer interaction module. The device needs to manually select the puncture position during use, without realizing automation, and there is no autonomous identification and active puncture avoidance of vein bifurcations. [0004] Patent CN111096796A proposes a multi-layer control system for a fully automatic venipuncture robot, including: a perception decision-making la...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/34A61B34/10A61B34/20A61B34/30G06T7/70G06N3/08
CPCA61B17/3403A61B34/10A61B34/20A61B34/30G06T7/70G06N3/08A61B2034/2065A61B2034/107A61B2034/108A61B2034/2055G06T2207/10048G06T2207/30101
Inventor 齐鹏曹旭
Owner TONGJI UNIV
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