Device, method and blood collection box for ultrasonic probe adaptively guided puncture

Abstract

The present invention discloses a device, method and blood collection box for adaptively guiding puncture with an ultrasonic probe, so as to solve the problem that the pressing force of the ultrasonic probe cannot be adaptively adjusted and affects the quality of the ultrasonic image. The device includes an ultrasonic probe, an ultrasonic probe support assembly, a screw module, a drive motor and a control chip; the ultrasonic probe support assembly has a built-in pressure sensor above the non-detection end of the ultrasonic probe; the pressure sensor feeds back the pressure information to the control chip in real time, and determines whether the surface extrusion force exceeds the pressure setting threshold through the code to control the drive motor. The blood collection box including the device first obtains the optimal puncture area through a near-infrared camera and computer image processing, and then obtains the pressure information of the ultrasonic probe through the control chip to ensure that a high-quality ultrasonic image is obtained, thereby guiding the puncture with high precision. The mechanical operating end of the present invention can meet the puncture requirements of multiple puncture areas, while reducing the difficulty of control operation.

Description

Technical Field

[0001] The present invention relates to the technical field of venipuncture robots, and more specifically, to a device and method for self-adaptively guiding puncture with an ultrasonic probe, and a blood collection box. Background Art

[0002] Near-infrared and ultrasound-guided puncture have become the main means of achieving automatic puncture. The near-infrared camera obtains the planar distribution information of the venous blood vessels, and the ultrasound probe emits ultrasound to the subcutaneous veins, thereby displaying the longitudinal information of the veins and guiding the puncture needle for puncture. Since ultrasound cannot penetrate the air, the ultrasound probe must contact the patient's skin surface with appropriate pressure. When the pressure is too high, the blood vessels will be squeezed flat; when the pressure is too low, air will enter between the skin and the probe, eventually causing the ultrasound image to be completely black. Therefore, the pressing force of the ultrasound probe during measurement directly affects the deformation rate of the tissue, thereby affecting the quality of the ultrasound image. Appropriate pressing pressure has become the focus of ultrasound testing.

[0003] The Chinese patent with publication number CN105107067A and publication date 20151202 discloses a venous puncture system guided by infrared and ultrasound, which preliminarily realizes the basic framework of automatic puncture by guiding the puncture needle through near infrared and ultrasound. However, the ultrasonic height adjustment device of the invention is a manual mechanical knob adjustment, which is similar to the traditional medical staff holding an ultrasonic probe for detection and guidance, and cannot realize automatic ultrasonic height adjustment and positioning.

[0004] A Chinese patent with publication number CN111084638A and publication date 20200501 discloses an ultrasonic probe surface pressure detection device, which fixes a thin film pressure sensor on the surface of the ultrasonic probe detection end, feeds back pressure information, and then controls the chip to change the detection position, direction and angle by changing the motor parameters. However, this invention also has certain limitations. Since the surface of human skin is not smooth and there are air gaps, it is usually necessary to apply medical ultrasonic coupling agent before ultrasonic testing to improve the quality of ultrasonic images. However, this invention places a thin film pressure sensor on the surface of the ultrasonic probe detection end. In actual applications, it directly contacts the ultrasonic coupling agent, causing contamination and damage to the sensor. At the same time, the device adopts a mechanical arm structure, and the control method is relatively complicated. For common venous puncture areas, that is, the median cubital vein and basilic vein in the antecubital area are relatively horizontal, and no complicated angle and direction adjustment is required.

[0005] Therefore, developing a venous puncture device and method that can scientifically and efficiently achieve ultrasound-guided puncture and adaptively adjust the height and pressure intensity is a technical problem that needs to be solved urgently. Summary of the invention

[0006] Due to the above-mentioned defects in the prior art, the present invention provides a device, method and blood collection box for adaptively guiding puncture with an ultrasonic probe to solve the problem that the pressing force of the ultrasonic probe cannot be adaptively adjusted and affects the quality of ultrasonic images.

[0007] To achieve the above-mentioned object, on the one hand, the present invention provides a device for adaptively guiding puncture with an ultrasonic probe, comprising an ultrasonic probe and an ultrasonic probe support assembly, characterized in that it also comprises a linear screw module, a drive motor and a control chip;

[0008] The ultrasonic probe support assembly is divided into two layers, the outer layer base is fixedly connected to the slider on the linear screw module, and the inner layer wrapping shell and the inner layer support base clamp and fix the ultrasonic probe; the inner layer support base is moved up and down in the outer layer base through a slide rail; a pressure sensor is arranged above the inner layer support base and between the inner layer support base and the outer layer base; the driving motor drives the linear screw module, and drives the ultrasonic probe to move in the vertical direction through the slider; the pressure sensor collects the relative pressure between the inner layer support base and the outer layer base; the control chip includes a motor driving module and a pressure collection module; the pressure sensor feeds back the pressure information in real time and outputs it to the control chip through a connecting line, and judges whether the surface extrusion force F exceeds the pressure setting threshold F' through the code to control the operation of the driving motor.

[0009] Furthermore, the inner wrapping shell is fixedly connected to a support plate inclined downward, and a near-infrared camera is fixed to the support plate; a computer performs image segmentation operations on the images obtained by the near-infrared camera through an algorithm to obtain the optimal puncture area and coordinate posture regression, thereby guiding the movement of position parameters of the ultrasound probe.

[0010] Furthermore, the inner wrapping shell and the inner supporting base are tightened or clamped by bolts and nuts to fix the ultrasonic probe; there are platform protrusions on both sides below the outer base to determine the minimum height of the ultrasonic probe and the inner wrapping shell as a whole relative to the bottom surface of the outer base.

[0011] Furthermore, the control chip is a single-chip microcomputer; the ultrasound probe uses a 75MHz, 48-element ST-1C ultrasound probe, which transmits and receives high-frequency ultrasound signals to the skin tissue, can display the cross-sectional image of the blood vessels, the thickness of the wall structure, the size and shape of the lumen, and can track the position and angle of the puncture needle in real time.

[0012] Furthermore, the pressure sensor has its own power supply module, a rated pressure range of 0-100 MPa, a maximum resolution of 100 Pa, a maximum operating temperature of 175° C., and a rated comprehensive accuracy of ±0.02% FS (maximum range).

[0013] On the other hand, the present invention provides a blood collection box, including a puncture assembly, characterized in that it also includes the above-mentioned ultrasonic probe adaptively guiding puncture device as an image detection module, three groups of orthogonal linear screw modules, and a soft support plate; the linear screw module is one of the groups of orthogonal linear screw modules; the soft support plate supports the human arm; the image detection module is located directly above the human arm and can move along the orthogonal linear screw module to realize the function of locating the area to be punctured.

[0014] Furthermore, the soft support plate is provided with a fixed handle for the patient to hold tightly to stabilize the arm.

[0015] In another aspect, the present invention provides a method for adaptively guiding puncture with an ultrasonic probe, characterized in that the method adopts the above-mentioned blood collection box and comprises the following steps:

[0016] S11, the front area of ​​the elbow of the human arm is placed flat on the soft support plate with the front side facing upward;

[0017] S12, the near-infrared camera obtains a local near-infrared image of the arm, and through computer processing, establishes a two-dimensional model of the punctured vein, obtains the planar distribution information of the blood vessel, and obtains the optimal puncture area;

[0018] S13, the orthogonal linear screw module drives the ultrasonic probe to move to just above the optimal puncture area; the drive motor drives the ultrasonic probe to move downward in the vertical direction;

[0019] S14, when the ultrasonic probe detection end is under pressure, the pressure sensor converts the real-time detected pressure signal into an analog voltage signal through a voltage divider circuit and inputs the analog voltage signal into the control chip; and obtains the pressure information of the ultrasonic probe detection end through the A / D conversion of the pressure acquisition module in the control chip;

[0020] S15, the control chip transmits the pressure of the surface of the ultrasound probe and various parts of the human body through the data line, and performs data processing to determine whether F is greater than the pressure setting threshold F'; if F≥F', the motor drive module of the control chip controls the drive motor to stop working immediately, otherwise the drive motor continues to rotate, and the above steps are repeated until the motor stops working, thereby controlling the size of the extrusion force of the ultrasound probe on the skin surface;

[0021] S16. The ultrasound probe transmits a clear ultrasound image to a computer, performs image segmentation through a deep learning-related algorithm, calculates the vein diameter and the depth of the puncture center from the skin surface, establishes a puncture depth model, and guides the puncture.

[0022] Furthermore, the specific control steps of the control chip for data processing include:

[0023] S21, initialize GPIO port;

[0024] S22, setting a timer to encoder mode and initializing it;

[0025] S23, setting the PWM output of the motor speed and the related register configuration;

[0026] S24. Write a PID control algorithm based on the value read out by the encoder, and change the PWM duty cycle according to the value returned by the PID control algorithm.

[0027] Furthermore, before using the ultrasonic probe, a medical ultrasonic coupling agent needs to be applied to the area to be detected to improve the image quality.

[0028] Compared with the prior art, the above invention has the following advantages or beneficial effects:

[0029] (1) The built-in pressure sensor above the ultrasonic non-detection end outputs a pressure signal to achieve adaptive height adjustment in the vertical direction;

[0030] (2) By setting the pressure threshold for different patients to be tested, the pressure of the ultrasound probe on the skin surface can be effectively controlled, thereby greatly improving the imaging quality of the ultrasound image;

[0031] (3) It effectively avoids direct contact between the ultrasonic coupling agent and the sensor, thus improving the durability and sensing accuracy of the sensor;

[0032] (4) The Cartesian rectangular coordinate system is used to achieve positioning requirements through three sets of orthogonal screw drive modules, which is more targeted and can meet the puncture requirements of puncture areas such as the median cubital vein and basilic vein, while reducing the difficulty of control operation;

[0033] (5) The control chip and its algorithm can realize high-precision and high-sensitivity output control of the ultrasonic probe drive motor;

[0034] (6) The device has a reasonable structure, is easy to process, and has highly versatile control hardware, making it easy to promote and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention and its features, appearance and advantages will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings. The same reference numerals indicate the same parts in all the drawings. The drawings are not drawn to scale, and emphasis is placed on illustrating the subject matter of the present invention.

[0036] Figure 1 It is a three-dimensional schematic diagram of the ultrasonic probe adaptively guided puncture device of the present invention;

[0037] Figure 2 It is a front view of the ultrasonic probe adaptively guided puncture device of the present invention;

[0038] Figure 3 It is a left view of the ultrasonic probe adaptively guided puncture device of the present invention;

[0039] Figure 4 It is a structural schematic diagram of the blood collection box of the present invention;

[0040] Figure 5 It is a flowchart of the steps of the ultrasound probe adaptively guided puncture method of the present invention;

[0041] Figure 6 A control flow chart of the adaptive height adjustment of the ultrasonic probe of the present invention;

[0042] Reference numerals:

[0043] 1. Ultrasonic image detection module; 101. Drive motor; 102. Linear screw module; 103. Ultrasonic probe; 104. Near-infrared camera; 105. Outer base; 106. Slide rail; 107. Inner support base; 108. Pressure sensor; 109. Slider; 110. Inner wrapping shell; 2. Orthogonal linear screw module; 3. Human arm; 4. Soft pallet. DETAILED DESCRIPTION

[0044] The structure of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but is not intended to limit the present invention.

[0045] Example 1

[0046] like Figures 1 to 3 As shown, this embodiment provides a device for adaptively guiding puncture with an ultrasonic probe, including an ultrasonic probe 103, an ultrasonic probe support assembly, a linear screw module 102, a drive motor 101 and a control chip;

[0047] The ultrasonic probe support assembly is divided into two layers, the outer base 105 is fixedly connected to the slider 109 on the linear screw module 102, and the inner wrapping shell 110 and the inner support base 107 are tightened by bolts and nuts to fix the ultrasonic probe 103; the inner support base 107 is moved up and down in the outer base 105 through the slide rail 106; a pressure sensor 108 is arranged above the inner support base 107; the driving motor 101 drives the linear screw module 102, and drives the ultrasonic probe 103 to move in the vertical direction through the slider 109;

[0048] The control chip includes a motor drive module and a pressure acquisition module; the pressure sensor 108 feeds back the pressure information in real time and outputs it to the control chip through a connecting line, and determines through the code whether the surface extrusion force F exceeds the pressure setting threshold F' to control the operation of the drive motor 101.

[0049] In this embodiment, the built-in pressure sensor 108 above the inner support base 107 provides real-time feedback on the squeezing force of the non-detection end of the ultrasonic probe 103 and the upper end of the inner support base 107 on the pressure sensor 108. According to Newton's third law, the ultrasonic probe is balanced in the vertical direction, and the inner friction of the inner layer of the inner wrapping shell 110 can be ignored, so the squeezing force F1 on the detection end surface is equal to the squeezing force F2 on the pressure sensor 108 by the non-detection section of the ultrasonic probe 103 and the upper end of the inner support base 107, thereby realizing the function of the pressure sensor 108 to measure the squeezing force F on the detection end surface of the ultrasonic probe without directly contacting the skin surface. The pressure setting threshold F' can be changed according to actual medical needs, and the specific value can be obtained by consulting professional medical staff or through clinical experiments.

[0050] In this embodiment, there are platform protrusions on both sides below the outer base 105 to determine the lowest height of the ultrasonic probe 103 and the inner layer wrapping shell 110 relative to the bottom surface of the outer base 105. When the pressure sensor 108 is kept in a non-squeezed state, the feedback output force should be 0 in value. At this time, the platform protrusions on both sides below the outer base 105 provide vertical upward support force. The control chip is an STM32 F103RBT6 single-chip microcomputer; the ultrasonic probe 103 uses a 75MHz, 48-element ST-1C ultrasonic probe to transmit and receive high-frequency ultrasonic signals to the skin tissue, which can display the cross-sectional image of the blood vessel, the thickness of the wall structure, the size and shape of the lumen, and track the position and angle of the puncture needle in real time. The pressure sensor 108 has its own power supply module, the rated pressure range is 0-100Mpa, the highest resolution is 100Pa, the highest operating temperature is 175℃, and the rated comprehensive accuracy is ±0.02%FS.

[0051] In this embodiment, the inner layer wrapping shell 110 is fixedly connected to the support plate obliquely downward, and a near-infrared camera 104 is fixed to the support plate; a computer performs image segmentation and other operations on the image obtained by the near-infrared camera 104 through an algorithm to obtain the optimal puncture area and coordinate posture regression, thereby guiding the position parameter movement of the ultrasonic probe 103. The near-infrared camera 104 emits near-infrared light with a wavelength of 780 to 2526 nanometers. The red blood cells and surrounding tissues in the subcutaneous veins have different absorption peaks for near-infrared light sources of specific wavelengths. By utilizing the specific absorption spectrum characteristics of deoxyhemoglobin, accurate identification of blood vessels can be achieved, and then an algorithm is used to segment blood vessels to obtain the distribution of the venous network, select the puncture area and perform optimization, and finally determine a series of needle insertion points suitable for venous puncture.

[0052] Example 2

[0053] like Figure 4As shown, this embodiment provides a blood collection box, including a puncture assembly, the ultrasonic probe adaptively guided puncture device described in Example 1 as an image detection module 1, three groups of orthogonal linear screw modules 2, and a soft support plate 4; the linear screw module 102 is one of the groups of orthogonal linear screw modules 2; the soft support plate 4 supports the human arm 3; the image detection module 1 is located directly above the human arm 3, and can move along the orthogonal linear screw module 2 to realize the function of locating the area to be punctured.

[0054] In this embodiment, the inner wrapping shell 110 and the inner supporting base 107 fix the ultrasound probe 103 by snapping; the soft support plate 4 is provided with a fixed handle for the patient to hold tightly to stabilize the arm.

[0055] like Figure 5 and Figure 6 As shown, the above-mentioned blood collection box adopts an ultrasonic probe adaptively guided puncture method, which includes the following steps:

[0056] S11, the front area of ​​the elbow of the human arm 3 is placed flat on the soft support plate 4 with the front side facing upward;

[0057] S12, the near-infrared camera 104 obtains a local near-infrared image of the arm, and through computer processing, establishes a two-dimensional model of the punctured vein, obtains the planar distribution information of the blood vessel, and obtains the optimal puncture area;

[0058] S13, the orthogonal linear screw module 2 drives the ultrasonic probe 103 to move to just above the optimal puncture area; the driving motor 101 drives the ultrasonic probe to move downward in the vertical direction;

[0059] S14, when the detection end of the ultrasonic probe 103 is under pressure, the pressure sensor 108 converts the real-time detected pressure signal into an analog voltage signal through a voltage divider circuit and inputs it into the control chip; the pressure information of the detection end of the ultrasonic probe is obtained through the A / D conversion of the pressure acquisition module in the control chip;

[0060] S15, the control chip transmits the pressure of the surface of the ultrasound probe and various parts of the human body through the data line, and performs data processing to determine whether F is greater than the pressure setting threshold F'; if F≥F', the motor drive module of the control chip controls the drive motor to stop working immediately, otherwise the drive motor continues to rotate, and the above steps are repeated until the motor stops working, thereby controlling the size of the extrusion force of the ultrasound probe on the skin surface;

[0061] S16. The ultrasonic probe 103 transmits a clear ultrasonic image to the computer, performs image segmentation through a deep learning-related algorithm, calculates the vein diameter and the depth of the puncture center from the skin surface, establishes a puncture depth model, and guides the puncture.

[0062] In this embodiment, before using the ultrasonic probe, it is necessary to apply a medical ultrasonic coupling agent to the area to be detected to improve the image quality. The specific control steps for the control chip to perform data processing include:

[0063] S21, initialize GPIO port;

[0064] S22, setting a timer to encoder mode and initializing it;

[0065] S23, setting the PWM output of the motor speed and the related register configuration;

[0066] S24. Write a PID control algorithm based on the value read out by the encoder, and change the PWM duty cycle according to the value returned by the PID control algorithm.

[0067] This embodiment adopts the motor speed PID control based on the single-chip microcomputer STM32, that is, the proportional, integral, and differential controller. The algorithm uses the error as the input and obtains the output after the weighted sum of the three terms of proportional, integral, and differential. In the simulation system, the expression of the PID algorithm is:

[0068]

[0069] Among them, u(t) is the regulator output, e(t) is the regulator deviation signal, K p is the proportionality coefficient, T i is the integration time, T d is the differential time.

[0070] In the automatic height control system, the PID algorithm is used to adjust the motor speed so that the motor responds quickly according to the set conditions, so that the ultrasonic probe 103 can be positioned in the vertical direction. Combined with the integrator control in the PID controller, the response is proportional to the integral of the excitation, thereby achieving the function of eliminating steady-state errors. According to the system function and design requirements, a digital incremental PID controller is designed, and the calculation formula of the controller is as follows:

[0071] Δu=K p [e(k)-e(k-1)]+K i e(k)+K d [e(k)-2e(k-1)+e(k-2)]

[0072] Among them, K p , K i and K d represents the proportional, integral and differential coefficients of the PID controller, and e is the speed error. According to the pressure information fed back by the pressure sensor 108, the proportional term K p The adjustment can quickly extract the speed error, the integral term K iThe motor speed can be made consistent with the set threshold, ensuring that the static error is zero. The differential term K d The output signal of the motor in the next cycle can be predicted, thereby quickly improving the response rate of the system.

[0073] In summary, the present invention discloses a device, method and blood collection box for adaptively guiding puncture with an ultrasonic probe, so as to solve the problem that the pressing force of the ultrasonic probe cannot be adaptively adjusted and affects the quality of the ultrasonic image. The device includes an ultrasonic probe, an ultrasonic probe support assembly, a screw module, a drive motor and a control chip; the ultrasonic probe support assembly has a built-in pressure sensor above the non-detection end of the ultrasonic probe; the pressure sensor feeds back the pressure information to the control chip in real time, and determines through the code whether the surface extrusion force exceeds the pressure setting threshold to control the drive motor. The blood collection box including the device first obtains the optimal puncture area through a near-infrared camera and computer image processing, and then obtains the pressure information of the ultrasonic probe through the control chip to ensure that a high-quality ultrasonic image is obtained, thereby guiding the puncture with high precision. The mechanical operating end of the present invention can meet the puncture requirements of multiple puncture areas, while reducing the difficulty of control operation.

[0074] Those skilled in the art should understand that those skilled in the art can implement variations by combining the prior art and the above embodiments, which will not be described in detail here. Such variations do not affect the essential content of the present invention, and will not be described in detail here.

[0075] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. A device for adaptively guiding puncture with an ultrasonic probe, comprising an ultrasonic probe (103) and an ultrasonic probe support assembly, characterized in that: It also includes a linear screw module (102), a drive motor (101) and a control chip; The ultrasonic probe support assembly is divided into two layers, an outer layer base (105) is fixedly connected to a slider (109) on the linear screw module (102), and an inner layer wrapping shell (110) and an inner layer support base (107) clamp and fix the ultrasonic probe (103); the inner layer support base (107) is moved up and down in the outer layer base (105) via a slide rail (106); a pressure sensor (108) is arranged above the inner layer support base (107) and between the inner layer support base (107) and the outer layer base (105); the driving motor (101) drives the linear screw module (102) and drives the ultrasonic probe (103) to move in a vertical direction via the slider (109); the pressure sensor (108) collects the relative pressure between the inner layer support base (107) and the outer layer base (105); The control chip comprises a motor drive module and a pressure acquisition module; the pressure sensor (108) feeds back pressure information in real time and outputs it to the control chip via a connecting line, and determines whether the surface extrusion force F exceeds a pressure setting threshold F' through a code to control the operation of the drive motor (101).

2. The device for adaptively guiding puncture with an ultrasonic probe according to claim 1, characterized in that: The inner wrapping shell (110) is fixedly connected to a support plate that is inclined downward, and a near-infrared camera (104) is fixed to the support plate; a computer performs an image segmentation operation on an image acquired by the near-infrared camera (104) through an algorithm to obtain an optimal puncture area and coordinate posture regression, thereby guiding the position parameter movement of the ultrasound probe (103).

3. The device for adaptively guiding puncture with an ultrasonic probe according to claim 2, characterized in that: The inner layer wrapping shell (110) and the inner layer supporting base (107) are screwed or clamped by bolts and nuts to fix the ultrasonic probe (103); platform protrusions are present on both sides below the outer layer base (105) to determine the lowest height of the ultrasonic probe (103) and the inner layer wrapping shell (110) as a whole relative to the bottom surface of the outer layer base (105).

4. The device for adaptively guiding puncture with an ultrasonic probe according to claim 2, characterized in that: The control chip is a single-chip microcomputer; the ultrasound probe (103) uses a 75 MHz, 48-element ST-1C ultrasound probe, which transmits and receives high-frequency ultrasound signals to skin tissue, and can display the cross-sectional image of the blood vessel, the thickness of the vessel wall structure, the size and shape of the lumen, and can track the position and angle of the puncture needle in real time.

5. The device for adaptively guiding puncture with an ultrasonic probe according to claim 2, characterized in that: The pressure sensor (108) has its own power supply module, a rated pressure range of 0-100 MPa, a maximum resolution of 100 Pa, a maximum operating temperature of 175°C, and a rated comprehensive accuracy of ±0.02% of the maximum range.

6. A blood collection box, comprising a puncture assembly, characterized in that: It also includes the ultrasonic probe adaptively guided puncture device according to any one of claims 2 to 5 as an image detection module (1), three groups of orthogonal linear screw modules (2), and a soft support plate (4); the linear screw module (102) is one group of the orthogonal linear screw modules (2); the soft support plate (4) supports the human arm (3); the image detection module (1) is located directly above the human arm (3) and can move along the orthogonal linear screw module (2) to realize the function of locating the area to be punctured.

7. A blood collection box according to claim 6, characterized in that: The soft support plate (4) is provided with a fixed handle for the patient to hold tightly to stabilize the arm.

8. A method for adaptively guiding puncture with an ultrasonic probe, characterized in that: The blood collection box according to claim 6 or 7 is used, comprising the following steps: S11, the human arm (3) is placed flat on the soft support plate (4) with the front area of ​​the elbow facing upwards; S12, the near-infrared camera (104) acquires a local near-infrared image of the arm, and establishes a two-dimensional model of the punctured vein through computer processing, acquires the planar distribution information of the blood vessels, and obtains the optimal puncture area; S13, the orthogonal linear screw module (2) drives the ultrasonic probe to move to just above the optimal puncture area; the drive motor (101) drives the ultrasonic probe to move downward in the vertical direction; S14, when the detection end of the ultrasonic probe (103) is under pressure, the pressure sensor (108) converts the pressure signal detected in real time into an analog voltage signal through a voltage divider circuit and inputs the signal into the control chip; and obtains pressure information of the detection end of the ultrasonic probe through A / D conversion of the pressure acquisition module in the control chip; S15, the control chip transmits the pressure of the surface of the ultrasound probe and various parts of the human body through the data line, and performs data processing to determine whether F is greater than the pressure setting threshold F'; if F≥F', the motor drive module of the control chip controls the drive motor to stop working immediately, otherwise the drive motor continues to rotate, and the above steps are repeated until the motor stops working, thereby controlling the size of the extrusion force of the ultrasound probe on the skin surface; S16. The ultrasound probe (103) transmits a clear ultrasound image to a computer, performs image segmentation through a deep learning-related algorithm, calculates the vein diameter and the depth of the puncture center from the skin surface, establishes a puncture depth model, and guides the puncture.

9. The method for puncture guided by an ultrasonic probe adaptively according to claim 8, characterized in that: The specific control steps of the control chip for data processing include: S21, initialize GPIO port; S22, setting a timer to encoder mode and initializing it; S23, setting the PWM output of the motor speed and the related register configuration; S24. Write a PID control algorithm based on the value read out by the encoder, and change the PWM duty cycle according to the value returned by the PID control algorithm.

10. The method for puncture guided by an ultrasonic probe adaptively according to claim 8, characterized in that: Before using the ultrasound probe, you need to apply medical ultrasound coupling agent to the area to be tested to improve image quality.

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